hello. there is a "check" i'd like you to do first.. and depending on the result... one of the 2 issues listed below is the most likely failure to your vehicle.
the "check" is to block the wheels of the vehicle... start it and put it into drive... look at the rear driveshaft and see if it's rotating. IF the shaft is rotating the ring and pinion have failed. if it isn't rotating... see the issues listed below.
there is only 1 of 2 issues that would cause this type of problem.