Headlights Turn Off While Driving problems of the 2006 Subaru Legacy

I had run into a few small problems this winter, like my steering wheel not turning when the car was cold, but I experienced my first major problem while my vehicle was stationary, but had been running. I was going through a drive through, had to put my car in park, then when I went to shift it back into drive, nothing would happen. It was stuck in park. I don't think the problem was temp. Related, it was about 40 degrees outside. After turning the car on/off four or five times I was able to get it going, but my headlights went out, which I thought was strange. While driving home I noticed that the "brake" light was illuminated. The next day, I started my car before work to defrost my windows. The car started just fine (all the electrics worked and the engine was on and running), and I went inside. About 15 minutes later I came back to my car, and the engine had turned off. At first the electrical components worked. My friend came and tested the voltage anyway, because a dead battery is common when it gets cold, and the battery was fine. The warning lights that I noticed were on were the "brake" light, as well as the "abs" light. After trying to turn it on a couple times, all the electrical components stopped working as well. It will start if I leave it for a few hours, but I am terrified to drive it anywhere to figure out what is going on.