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 properlyBrake system
PRECAUTION
NOTICE:
Care must be taken to replace each part properly as it could affect
the performance of the brake
system and result in a driving hazard. Replace the parts with parts having
the same part number
or equivalent.
It is very important to keep parts and the area clean wh ...