No problem, just put in reverse and dis-engage.
Common problem, it's called driveline bind.
This will work.
I've also found that if you rock the steering side to side while at a slow roll it will also unbind the drive lines and allow the shift. Guess it depends on the circumstances for the ability to do either.
![Beer Chug\'n :beerchug:](https://board.marlincrawler.com/Smileys/marlin/beerchug.gif)