more than likely, you have a transfer box ecu fault, I've seen this a few times and every time, it's been the ecu at fault.
To get into high manually will be difficult, you could take the motor off the transfer box and turn the shaft by hand but you wont get the motor back on and the transfer box will leak oil without it.
the other way would be to find the wires that go from the ecu to the motor (ecu is under the rear of the front passengers seat) and put a feed and earth down the wires to force the motor back into high, not sure how well this would work though as I've never tried it.