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 electronic key does
not operate properlyLuggage compartment
features
Cargo hooks
Raise the hooks to use.
Cargo hooks are provided for
securing loose items.
Grocery bag hooks
Notice
Do not hang any object heavier than 6.6 Lb. (3 Kg) on the grocery bag
hooks.
Auxiliary boxes
Center deck under tray
Pull the strap upwards to
open ...