Toyota sienna wont go into gear?

There is a flexible joint on the axle that is covered by the cv boot. When that joint breaks the transmission cannot turn the axle. It should have been noisy as heck before it broke. That could be the problem. The transmission itself might be at fault, not shifting into gear , or if it's too low on fluid it isn't able to transmit it's motion. I believe those transmissions are electronically controlled. There's another possibility for a source of the trouble. All of this is too much for a screwdriver and pliers. You have to get the car to a shop where it can be fixed. If it was mine, I'd pull of the axles to see if they were faulty, and replace them if they were broken. That is a lot of work. Doing it myself would save only about $200 and take about 2-3 hours. If you never did this kind of work, take it to the shop and get it done by a mechanic who has all the right tools and skill.