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:
Vehicles with a smart key system: turn the engine switch to accessory mode.
To prevent damage to the cover, cover the tip of the screwdriver with a rag.

The shift lever can be shifted while the button is pressed

 If the engine will not
start
If the engine will not
start If the electronic key does
not operate properly
If the electronic key does
not operate properlyDisposal
   HINT:
When scrapping a vehicle equipped with the SRS or disposing of the front 
passenger airbag assy, be sure
to deploy the airbag first in accordance with the procedure described below. If 
any abnormality occurs with
the airbag deployment, contact the SERVICE DEPT. of TOYOTA MOTOR SALES, U.S ...