Washer is filled with soapy water and will not drain to finish rest of cycle.

I am not quit sure if my answer will help you, but I am going to tell you the cycle

The unit fills to whatever water level you choose to use
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After reaching the water level the the wash begins, after 20 or 30 minutes of washing it needs to drain the soapy water. The drain pump turn on draining the water, after draining the unit fill back up to the settings and or sprays water while doing the draining and spinning to remove as much dirty water as possible from the first wash. After the first draining, fills back up again for the final rinse and the final drain

The symptom you are describing, here tell me, that issue is with the drain valve, drain hose, the sewer, or is a big possibility that there is is a sock or woman garment stuck in inside holding the rotor causing the water not drain inside the water valve, if the sensors are not sensing the opening of the pressure switch after the first fill. it will not continue This units lately has been added many sensors the only thing this unit doesn't has is the ability to speak but if using common sense you can get to the part that needs to be replace. You need to read and understand the wash cycle first.

Keeping in mind that the soap & bleach gets dispensed into your wash on the second to last rinse cycle and that most all rinse cycles are in cold water. Is your cold water valve screen plugged causing your washer to rinse poorly? Are you using the HE detergent? If not maybe the washer is sudsing up to much and having a hard time rinsing all the suds and bleach out and leaving the clothes soapy.

Fill the washer up with no clothes in it on a cold/cold wash setting does it take a long time to fill the washer up? Also when it is full and agitating is there suds in the washer?

Last suggestion is if the drain is hose is a lot higher than the top of the washer it might have a hard time draining out all of the soap water before the next load

Check to be sure the drain hose is above the tub level.

first, run a rinse,drain & spin cycle. after it finishes filling, shut the water supply (taps) off. If water enters the washer after the drain, it has to be sifoning back in from the DRAIN hose. Check to see if the drain hose is not going up above the washer more than a few inches

clean pump and drain hose
thumbs up

Check filter otherwise jammed or faulty pump

Change the main controll, the one behind the dial that you turn. About 75.00. bucks. Clean hose from lint build up at pump exit inside washer. 

found a kink in the drain hose, shortened hose-problem solved.

be sure the drain hose is not lower than the wash tub this will caust the water to run out, 2nd be sure the drain hose is not pushed to far into the house stand pipe and the there is rome for air to go inbetween the drain hose and stand pipe eather of these will cause the machine to siphon mostly on rince cycle or on the 2nd and third loads you do. last your house drain could be starting to back up fill the washer with water and listen to it drain if you hear a gurggling sound in the house pipe you may need a plumber to cleanthis out for you.

Does it fill with "cold" water?Will it spin?Drain?If the machine will fill up with cold water,will the timer advance by itself to finish?Or if you place the timer in spin cycle will it spin?First off if your not getting "Cold" water to fill inside :Replace the water valve (because when the timer stops after the agitation cycle it wont advance because it cant fill up with cold water.