Your vehicle has an automatic transaxle shift lock control system which locks the shift lever in PARK (P) when the ignition is in the OFF position. In addition, you have to fully apply your regular brakes before you can shift from PARK (P) when the ignition is ON. See Automatic Transaxle Operation .
If you cannot shift out of PARK (P), ease pressure on the shift lever and push the shift lever all the way into PARK (P) as you maintain brake application. Then move the shift lever into the gear you want.
If you ever hold the pedal down but still cannot shift out of PARK (P), try the following: