You need to buy the factory manual from Helm to decifer those proprietary Honda problem codes.
I don't have one for my '06 CR-V yet, but my '99 Acura TL manual indicates that the P1706 is an Automatic Transmission Gear Position Switch being "open". They have you unplug the switch and take continuity tests on the various connections.
If indeed this switch is the problem, you will be happy to note that the tranny does not have to be removed to replace it.

Heck, perhaps the connector is loose or corroded!
Before diving in with your wallet, though, I would verify the actual cause of the DTC (diagnostic trouble code). The CRV may be different than the Acura.