Your vehicle has a brake/shift interlock. You have to fully apply your regular brake before you can shift from PARK (P) when the ignition is in the "RUN" position. That's a safe feature.
If you cannot shift out of PARK (P), ease pressure on the shift lever. Push the shift lever all the way into PARK (P) and also release the shift lever button as you maintain brake application.
To shift out of PARK (P), press down on the shift lever button and move the shift lever into the gear you wish. Then release the parking brake.
If you are parking on a hill and you don't apply your parking brake before shifting into PARK (P), the weight of the vehicle may put too much force on the parking pawl in the transaxle. This may make it difficult to pull the shift lever out of PARK (P). This is called "torque lock."
To prevent torque lock, first set the parking brake and then shift into PARK (P) properly before you leave the driver's seat. To find out how, see Shifting Into Park .