The invention relates to an actuator with release and return mechanisms. An electronic transmission range select actuator (ETRSA) includes a primary drive system that operates during normal operation.The ETRSA includes an output shaft that is connected to the system via a lock pin during normal operation. The ETRSA also includes a release mechanism having a secondary motor that operates during apower loss or failure of the system. The secondary motor drives a gear that rotates freely relative to the output shaft. Rotation of the gear results in axial movement of the gear toward the lock pin,which in turn causes disengagement of the lock pin from the output shaft, allowing the output shaft to rotate due to the biasing load of a torsion spring such that the output shaft is returned to theP-range position. Thus, the mechanism is configured to return the output shaft to the P-range during a power loss or failure of the first motor.