So I just took the yellow wire and moved it up into the slot above it where I read to do. After I get to about 20 mph it stops and says it is prohibited to drive. I tried resetting my unit but that didnt work. Maybe someone could help me out? I would appreciate it. I am not sure how i am supposed to ground any wires. I thought thy are always grounded anyways.

You have to ground that mute wire as well as the parking brake wire. To ground it, simply attach them to any screw or bolt going into the body (METAL) of the car. OR... attach them to whatever wire the D3's black ground wire is attached to.