Diff lock & VSC lights...she won't get into gear...

[Defilade]

2002 LX...wife left parking lot and differential and VSV lights came on. Couldn't go more than 30 mph home and steering v wonky. I've been trying to resolve, now won't go into gear. Any ideas?

 

[Defilade]

Adding. Tried going in reverse to reset and wouldn't go into reverse either.

 

[Defilade]

Good grief. Put her in neutral, shift TC to high, back up 50 ft, lights cleared. Good to go!