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 keysPower Source Mode does not Change to ON (IG)
DESCRIPTION
When the engine switch is pushed with the key in the cabin, the power management
control ECU receives signals to switch the power source mode.
WIRING DIAGRAM
Refer to "Power Source Mode does not Change to on (IG and ACC)" (See page
...
Disposal
DISPOSAL
PROCEDURE
1. DISPOSE OF BRAKE BOOSTER ACCUMULATOR ASSEMBLY
(a) Place the brake booster accumulator assembly in a vise and cover
it with cloth.
(b) Using a saw, cut the brake booster acc ...