If the shift lever cannot be shifted with your foot on the brake pedal, there may be a problem with the shift lock system (a system to prevent accidental operation of the shift lever). Have the vehicle inspected by your Toyota dealer immediately.
The following steps may be used as an emergency measure to ensure that the shift lever can be shifted:
Set the parking brake.
Vehicles without a smart key
system
Turn the engine switch to the “ACC” position.
Vehicles with a smart key system
Turn the “ENGINE START STOP” switch to ACCESSORY mode.
Depress the brake pedal.

Pry the cover up with a flathead screwdriver or equivalent tool.

Press the shift lock override button.
The shift lever can be shifted while the button is pressed.
If the engine will not start
If you lose your keysDisc cannot be Inserted or is Ejected Right After Insertion
CAUTION / NOTICE / HINT
NOTICE:
After replacing the navigation receiver assembly of vehicles subscribed to pay-type
satellite radio broadcasts, XM radio ID registration is necessary.
PROCEDURE
1.
CHECK IF A PROPER DISC IS INSERTED
...
System Description
SYSTEM DESCRIPTION
1. GENERAL
(a) The heater and blower both have 3 levels controlled by operating the dial-type
refreshing seat switch, which is located in the upper console panel.
(b) The on/off state of the heater or blower can be determined by checkin ...