Did you resolve the issue? If not, could you tell what made the beep? If you have the original stereo, it might have been the anti-theft/cleared-code beep, though that's usually a few beeps. When the switch came out, you may have drained the battery with a short or power loss of some sort, and need to recharge the battery in addition to replacing & checking the switch and connections in the steering column.
My headlamp switch fell apart in my hand one day. Luckily, I fiddled with it enough to turn off the lights before it completely came undone. It was an easy replacement, as said above.