Ive been having a similar intermitten issue with my 2000 ssei but I dont think my lights came on. I have been thinking it might be my key going bad cause my security light also comes on sometimes and I had a similar issue with the old puck keys that my Lumina had.
Check your battery cables. Clean both of them real good. Pull the boot back and check the cable as well. You have corrosion at the battery/cable connection. That'* why the jump start worked. This is a common problem.
it is always in park, im gonna prolly try an ignition switch but first I think I need a new battery since when I turn off my car the volt meter only shows 11.3 and all my accesorys that are plugged in turn off due to the lack of voltage.