Can anyone fix this Honda Oddessey 2000 TCS PROBLEM?

I own a 2000 Honda oddessy and when I turn on the car if it is cold outside the TCS light turn on and I can't shift my car into drive only reverse and 1st and second and I usually have to wait for the car to heat up with the heat on and restart the car after a while for the TCS light to turn off and for me to use drive.

Anyone ever have this problem or know what it could be?

Hi the answer is staring you in the face year 2000 that was 16 years ago. Designed to last 8-10 years after which it is just luck. It needs lots of new parts and lots of time to change them.

http://autorepair.about.com/