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 keysAll Door Entry Lock/Unlock Functions do not Operate, but Wireless Functions
Operate
DESCRIPTION
When the wireless door lock and unlock functions operate, the communication circuit
between the door lock receiver assembly and certification ECU (smart key ECU assembly)
is normal. When the entry lock and unlock functions do not operate, radi ...
Terminals Of Ecu
TERMINALS OF ECU
1. TERMINALS OF ECU
Text in Illustration
*1
Component without harness connected
(Brake Actuator (Skid Control ECU))
Terminal No. (Symbol)
Terminal Description
1 (GND ...
Installation
INSTALLATION
PROCEDURE
1. INSTALL TIMING CHAIN COVER SUB-ASSEMBLY
(a) Apply a light coat of engine oil to 2 new oil pump gaskets and new
oil hole cover gasket.
(b) Install the 2 new oil pump gas ...