I have had the same issues i took my 96 honda accord to the shop nd they found that there r 2 computers under the passanger floorboard nd that the they get water inside them so they took them both off nd when they did this they unhooked the battery nd they dried the computers out nd packed them with some type of grease nd put them back on nd connected the battery let it sit for 5 minutes started the car nd the light was gone nd the transmission shifted like it should
Could be your VSS Vehicle Speed Sensor. Since your car is a 1996 model it is OBD2 (On Board Diagnostics 2) This means you can go to AutoZone and have it scanned for free.
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