If the shift lever cannot be shifted with your foot on the brake, 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 with smart key system:
Turn the “ENGINE START STOP” switch to ACCESSORY mode.
Vehicles without smart key system: Turn the engine switch to the “ACC” position.
Depress the brake pedal.

Pry the cover up with a flathead screwdriver or equivalent.
To prevent damage to the cover, cover the tip of the screwdriver with a rag.

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 keysFront Left Sensor Malfunction (C1AE1)
DESCRIPTION
The No. 1 ultrasonic sensor (front left sensor) is installed on the front bumper.
The ECU detects obstacles based on signals received from the No. 1 ultrasonic sensor
(front left sensor). If the No. 1 ultrasonic sensor (front left sensor) has ...
Inspection
INSPECTION
PROCEDURE
1. INSPECT TIRES
(a) Inspect the tires for wear and proper inflation pressure.
Cold Tire Inflation Pressure:
Tire Size
Front
kPa (kgf/cm2, psi)
Rear
kPa (kgf/cm2, psi)
P245/55R1 ...
Engine Hood Courtesy Switch
Components
COMPONENTS
ILLUSTRATION
Inspection
INSPECTION
PROCEDURE
1. INSPECT SECURITY COURTESY SWITCH (HOOD LOCK ASSEMBLY)
(a) Measure the resistance according to the value(s) in the table below.
Standard Resistance:
...