Sounds like you need a shift lock solenoid microswitch, was a common problem for many years and it's not overly costly if you choose to have a dealer do it for you.
The ABS/Tracks problem is not normally related to the shifter in itself BUT it's also possible that your cars electrical part of the ignition switch is failing and that could cause both problems together. If you move the key in the ignition switch (NOT engaging the starter with the engine running), does the ABS light go off or will the shift lock work by moving the key, then depressing the brake pedal?