Corolla Verso T3 - Auto/manual - No Gear Selection

[rsdiscos]

Hi,

This is my first post here so I apologise if I get it wrong!

My verso corolla (06 - 62000 ish) has developed a problem today which I would like some advice on.

I stopped today to do a reverse park - on putting the car into reverse the warning light came on and the car didnt go into gear and I was pretty much stranded.

However, after going into work to get a colleague to give me a push, I started the car and it worked fine so I parked up.

Later on - I stopped to get petrol. On starting the car after filling up, i couldn't select gear, but on removing the key and starting it again I was able to drive away.

Is there anything i need to do or check before i make a call to the dealers.

Thanks in advance for your help!

Cheers