2000 Other Toyota Models If the fluid runs out

I have a 2000 Solara with approx 114952 miles...over the weekend, I attempted to move my car fromt he stree ttothe diveway. When I put the car in drive, and proceeded to so up the driveway the car was acting like it would "catch"...it sounded like it was in neutral instead of drive. I spoke with a friend who said it sounded like the transmission. I checked the fluid levela nd the stick thing read empty. My boyfriend added more fluid for me. So far it have been driving fine...should I have it checked for potential problems?