To help in putting it into 4wd, just move the tractor a tad by hitting the forward pedal. To get it out, often it is a little more difficult, but forcing it rarely works. I always get-by simply by stepping on the forward pedal very slightly, just enough to make the tractor move a little, and before the tractor stops (and pretty much at the same moment I've lifted my foot from the pedal), move the 4wd shift lever out of 4wd. It may take a couple of times to get it, but I've always been successful. If you are not on level ground, I think the issue will be far more difficult. The trick is to be moving the lever just at the point were the tractor is sort-of in that "coast" situation, so the drivetrain is under no load.