Is it reverse and low? Does it do it in high at all? Unfortunately this is a common problem, usually caused by shifter linkage out of adjustment or hitting gas when not fully engaged. Ears that engage get rounded or damaged and typically effects low gear. Try adjusting cable first and always make sure it shows gear on display before attempting to move. Aftermarket has also came out with modified shift gate that give shifter more room to ensure engagement.
If under warranty, I would get in to dealer. If not and cannot correct by cable adjustment, you will need work done to the subtrans. Adam Brown on facebook rebuilds them with updated parts from honda for $350 plus shipping.
Obviously honda knows of the issue due to the updated parts but no recall which is disappointing. I can tell my gear warn but has not failed. I did find switching to Royal Purple in the subtrans made shifting smoother.