HELP!!! Gear select (PRND321) ON THE FRITZ

[Shorty5106]

Please help. We purchased a 2007 GMC Yukon SLE from a family member and it is in great condition and was taken care of. The only issue is this weird electrical issue. Please if anyone knows what's going on please let me know.
Here is a video I hope the link works.
https://youtu.be/7fJHb-XOm6k