You can also use an automotive OBDII handheld scan tool to erase the code. The plug is located under the cup holder and is taped to the wiring harness leading to the hyd. levers if nobody has ever accessed it previously. I have never used the pedal dance before so I don't know if the code will erase completely. But it is worth a try to see.

Found the post and copied the procedure.....

PEDAL DANCE:

clearing codes for K21 - K25 engines

1) turn key switch on, after 3 seconds fully depress acc. pedal 5 times w/in 5 seconds.
2) after 7 seconds, press and hold down acc. pedal for about 10 seconds, until hour meter starts blinking.
3) release pedal and push down again, hold for another 10 seconds
4) hour meter should be on w/ no codes
5) shut off key, and turn back on w/ no codes.

There is a "pedal dance" that can be done to clear codes without removing battery terminal......do a serch here in the forum for pedal dance...it has been posted by me as well as several others in the past

Code says that there is an open in the o2 circuit. O2 is located in the exhaust system just past the exhaust manifold. This should not cause a problem with forward or reverse travel though. I would check the seat switch first for the drive problem. Mainly if your hyds. do not work also. Some of the codes on a nissan need to be erased and then have the batt. disconnected for a short time. You will lose the learns once you disconnect the batt. Accel position, throttle position, and idle air learn.