Just an update... I was able to get the car started and it Came back with "service electrical system" or something like that. I was also unable to get it into drive... I could physically move the shifter to drive, but the dash said "Shift to park" So I basically shifted back to park and waited for 10 minutes thinking that the main battery would charge the 12V. Then I turned the car off and turned it back on... this time, I didn't get any error messages and was able to drive the car.
I went straight to the dealership and replaced the battery.
Thanks for your help.