I have a 2000 721 with the G2 trans and this happened to me too..I replaced both drive belts and replaced the tensioner idler wheel bearing and made sure i had the correct tension on the belts...Rides great now! Before I did this the mower would drive fine on flat ground but it would slip on any incline...hope this helps
and as far as doing the repairs yourself, its pretty easy...a little tight fit..just remove the inline coupling coming from the motor then loosen both tensioners and the belts will come off.. just remember the orientation..