So I'm driving home on the freeway yesterday, doing about 75, and when I went to shift to 4th the clutch pedal stuck to the floor and wouldn't come back up!! I stopped the car and used my foot to bring the pedal back up, it seemed to stay but was really soft. I was finally able to get the car in gear again and the resistence returned to the clutch pedal. I nursed it home, trying to shift as little as possible. Once it's going it shifts fine, it's starting out that's horrifying! When pulling away in first there's a god awful grinding noise and it smells like something is burning I'm going to have to take it to a shop but I want to have a general idea of what's wrong so I don't get ripped off, or if it's something that wouldn't even really need a shop...
Please help me, I'm totally lost without my car
Thank You!

Also it shifts fine, no noise or pedal problems, when the car is off...