pull the shifter out and reset it with a big screw driver and install a new shifter sheet[the spacer that goes below the shifter]. just pull off the knob,boot,lower boot,push down and unscrew the retainer and pull the shifter out. then take your big screw driver and put the notches where they line up. later mike
Sounds like a bad shifter bushing to me. You can get them at most any sami web sight. I bought mine off e-bay. If you want to look at e-bay search for "suzuki samurai" then look for something that says T-case fix. Or you can go to http://www.petroworks.com, they will send you one for around $12 or so. I also think http://www.izook.com has a step by syep install.
Sounds like your high/low rod is stuck. If worse comes to worse, you can always pull the check ball that holds it in each shift and see if she moves after that. Its a little hex head type of bolt near the speedo cable and the driver side mount. You dont have to pull the bolt all the way out, just maybe a 1/4 of an inch.
This is prob one of the very common suzuki problems. There is a bushing that holds the x-fer shifter lever in the proper place. The stock one decentigrates after about 20 minutes. The thing to do is: pull the x-fer case shifter nob off, pull the boot off, take the rubber bootie up and off of the transfer case and off of the shifter. There is a retention thing that will hold the shifter firmly planted in the x-fer case, it's kinna a pain to get off. Take atleast one flat head and one other flat head or philip and press down on the retainer and twist counter clockwise? Correct me yall if I'm wrong. Once the retainer pops up (spring loaded, no it will not be launched into space..), take it up and off, gently remove the shifter stick. You should see a bunch of black crap down there, that is the old gasket/sheet/bushing. You'll need to replace that either with the teftlon (good one!) or there is a polly one also. Good luck, tell us what happens when you take it apart (it is very easy!).