I had this problem recently with my 93 Expo. The battery was less than fully
charged, and when I tried to start, the starter engaged and would not stop,
even with the key out of the ign. Curious.  The problem was eventually
traced to a half dead alternator. I'm guessing that this produced an
unexpected path to ground that was jamming the starter relay. The alternator
problem also explained the battery not getting enough charge.

Since you report the "Car wouldn't start for a few minutes", I'd start with
the alternator. Completely disconnect it, and try starting.   The "stuck"
problem may go away, but you may need to GENTLY tap (eg a hard flick with
the thumb) the various relays you can see in the engine bay to see if this
will unstick it.