2006 ford Taurus Idle High

my car has been idling high for the past week I would have to floor the gas to get to 55mph. My rpm will go to 3 then 4 when I reach 55 it will go to 2 until I stop then it start all over again. Today it will start up but won't go into gear

sounds like you have two problems. 1. high idle 2. trans slip or not changing gears and now no trans engagement. High idle, I would look for a vacuum leak. (check pcv valve vacuum circuit) but, that's all secondary if you can't even drive the car. If your transmission won't go into any gear you probably will have to change or rebuild your trans. Check to make sure your transmission fluid is full. trans fluid should look red. Not dark brown or black. And it should not smell burnt. but, usually when Taurus transmissions no longer go into any gear they will need to be replaced