1993 Chevy 3500 4x4

I have a 1993 Chevy 3500 4x4 with a 454, i put it in 4 wheel drive high drove it a lil bit and took it out. Now it wont go into gear when i try to drive it in 2 wheel drive. Its like its stuck in neutral and if i try to put into park it makes a grinding noise. I believe it just wont disengage out of 4 wheel drive, any ideas or thoughts. thank you.
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This VIDEO shows a system that I think is similar to yours.