it is most likely that you have a blown transmission and it would either need rebuilt or replaced. it sounds almost like you transission is trying to go into two different gears at once when you put it in drive and that is what is causeing the car to stall out on you.
The best case senerio is the transmission shift solinoid pack may have failed. From experience it sounds much more serious like the front pump of the transmission has failed.
Check the fluid. Transmission fluid should be red in color and clean. Check your owners manual regarding the levels and type. If it is low you have caused damage.
let a mechanic check the transmission. it sounds like something internal in the transmission is not working.i just had a transmission rebuilt in a ford expedition recently.it cost around 1200.00