If you're lucky your transmission is just low on ATF. Check its level exactly as described here. Set your parking brake then start your engine. With the engine warmed up, shift the transmission into Neutral and keep it there while the engine continues to run. Check the transmission's dipstick (it comes out from under the firewall on the passenger side) and make sure the level is all the way up to the full hot mark. I doubt it is.
If it's low, insert a small funnel into the dipstick tube and add fresh ATF+4 (nothing else!!!) until the level is 100% up to the full mark. If the ATF doesn't say "ATF+4" in big letters on the front label it's the wrong stuff.
Again, the transmission MUST be in Neutral and the engine MUST be running while you check the transmission's ATF level. Otherwise you'll get an erroneous level indicating showing there's more ATF present than there really is.