Pull the passenger seat out and that engine side-cover off....you will see the shift cable-end at the lower left corner.
Now work the shifter from P to L and pay close attention to the outer sheath of the cable end. It will probably be OK in P, R, and N.....but watch it's operation in H and L. If it doesn't operate as when in P to N, that is the problem.
Disconnect that end, unscrew the rubber boot so you can see what the problem is when you try to select L (it's a short metal sleeve slipping out of the sheath end)......the inner cable will probably be bent a little, so straighten it best you can.
You can then press that short metal sleeve back in place and lightly stake the outside of sheath onto the metal rod with a small chisel/hammer... effectively pinching/crimping them back together again.
Done properly, this will get you back in the game....run it as is, or order a new cable if you don't trust it.
If this isn't the problem, you may have a problem inside with the shifter mechanism....good luck!