Your vehicle has an automatic transmission shift lock control system which locks the shift lever in PARK (P) when the ignition is in the LOCK position. In addition, you have to fully apply the regular brakes before you can shift from PARK (P) when the ignition is in ON. See Automatic Transmission Operation .
If you cannot shift out of PARK (P), ease pressure on the shift lever by pushing 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 brake pedal down but still cannot shift out of PARK (P), try this: