Transmision

this sounds like your transmission is malfunctioning, possibly because the oil level has not been checked or changed, I would suggest to you that you take the automobile to your local shop and ask a qualified technician who would be able to diagnose or replace the malfunctioning transmission allow $750-$1000 for this.

I have checked the fluids they are good . Im just trying to figure out if it could be something minor like a relay . The linkage is good . It goes in park . It just doesnt go in reverse or drive . Or atleast it doesnt move in thise gears

Could be a torque converter issue, doesn't sound like a relay. diagnosis is beyond the average person's possibility. If the vehicle has been operating on the same transmission fluid for 19 years, you may need a rebuild.

About how much would it cost to repair

Depends on the problem. I'd stay away from large chain concerns, seems the only repair they offer is a rebuild, regardless of the problem. A long established mom and pop transmission only shop is probably the best recommendation. Your concern now is the vehicle will not move and a estimate can only be given if the mechanic can took at the tranny.