99 Limited with 270k. 4R had been sitting for a few day, then all of sudden what my kids say is that the alarm? never used it, started to go off, lights started blinking then everything turned off.

The battery was dead, so I charged it and as soon as I reconnected the battery terminals the wants to start with no key in the ignition.

I pulled the starter relay and it stopped. Put the relay back in starter engages (No key in the igntion) and motor is trying to turn over. I can turned the key and it starts and runs, but with what sounds like the starter is engaged. I can put it in drive and the starter disengages. Put it back in Park or N and starter reengages.

ANY Help would be great.