  We present a combined measurement of the Cabibbo-Kobayashi-Maskawa matrix
element $|V_{cb}|$ and of the parameters $\rho^2$, $R_1$, and $R_2$, which
fully characterize the form factors of the $B^0 \to D^{*-}\ell^{+}\nu_\ell$
decay in the framework of HQET, based on a sample of about 52,800 $B^0 \to
D^{*-}\ell^{+}\nu_\ell$ decays recorded by the BABAR detector. The kinematical
information of the fully reconstructed decay is used to extract the following
values for the parameters (where the first errors are statistical and the
second systematic): $\rho^2 = 1.156 \pm 0.094 \pm 0.028$, $R_1 = 1.329 \pm
0.131 \pm 0.044$, $R_2 = 0.859 \pm 0.077 \pm 0.022$, $\mathcal{F}(1)|V_{cb}| =
(35.03 \pm 0.39 \pm 1.15) \times 10^{-3}$. By combining these measurements with
the previous BABAR measurements of the form factors which employs a different
technique on a partial sample of the data, we improve the statistical accuracy
of the measurement, obtaining: $\rho^2 = 1.179 \pm 0.048 \pm 0.028, R_1 = 1.417
\pm 0.061 \pm 0.044, R_2 = 0.836 \pm 0.037 \pm 0.022, $ and $
\mathcal{F}(1)|V_{cb}| = (34.68 \pm 0.32 \pm 1.15) \times 10^{-3}.$ Using the
lattice calculations for the axial form factor $\mathcal{F}(1)$, we extract
$|V_{cb}| =(37.74 \pm 0.35 \pm 1.25 \pm ^{1.23}_{1.44}) \times 10^{-3}$, where
the third error is due to the uncertainty in $\mathcal{F}(1)$.
