The best way to do it to have the car on a lift or you will be ready to kill someone and or pincha nerve in your neck.
Sounds like your shifter bushing is totally gone and the rod is held on by the compression clip only.
Should take about ten minutes for the shop to do it.
Take it to an independent cause the dealer will rake you over the coals for $3.00 worth of rubber bushings.
If you do decide to do it yourself, please use jack stands or ramp if you can get the car on rams without tearing your front end off.
The easiest thing is to just pay someone to do it and be done with it.