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Sounds like your shift linkage may be out of adjustment.
When the shifter is aligned properly, the transmission should be fully out of reverse before the shifter gates line up, allowing you to move to the
position for 1st/2nd. I've seen cases where the linkage was out of adjustment or worn, allowing the shifter to move over to the slot for 1st/2nd before the transmission was fully out of reverse.
Even worse when this happens, the transmission pops back into reverse, pulling the linkage with it, not allowing the shifter to return to the slot for reverse. Had this happen before. Only way to fix it was to crawl under the car and disengage reverse by hand.