Your vehicle has an automatic transaxle shift lock control system. You have to fully apply your regular brakes before you can shift from PARK (P) when the ignition is in RUN. See Automatic Transaxle Operation .
If you cannot shift out of PARK (P), ease pressure on the shift lever -- push the shift lever all the way into PARK (P), as you maintain brake application. Then move the shift lever into the gear you wish. (Press the shift lever button before moving the shift lever).
If you ever hold the brake pedal down but still can't shift out of PARK (P), try this: