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Disconnect shift cable from transmission linkage and try to manually put transmission in drive gear ( make sure wheels chocked/park brake on ). If transmission goes into drive gear, suspect a shift cable or shifter assembly problem. If you can't manually shift into drive gear by hand with cable disconnected, suspect internal transmission/shift linkage issue
Your brake interlock is not working properly. Do your brake lights work? There is a switch at the brake pedal that tells the computer your foot is on the brake and to let you shift gears. When working properly you can hear the click by your shifter when you step on the brake. If you don't hear the click you need to troubleshoot the system to see which part is not working properly.
Have someone look at the Brakelights when you step on the brake. If they do not light up, that is the reason the car will not shift into gear.
There is a switch on the top of the brake pedal and it is an Interlock. The part is suppose to reduce the chance of runaway cars when you shift into gear, a process known as "lurching".
Although the switch is mounted high on the brake pedal lever, it often gets broken or moved by the drivers' feet. Look up under the dash and see the condition of this part on the brake pedal lever. You will then know whether to replace or reposition the switch.
This is a problem with the Interlock switch. Under the dash you will see the Brake pedal lever and it will have a switch on it. If this switch is hit by the drivers' feet it can be moved or broken. You can verify this problem by looking for the Brakelights to work when the pedal is pressed. If NO brakelights, the switch is the problem.
The cars are made that before allowing you to shift into gear, your foot must be on the brake. If the signal does not work on the Brake pedal, the car will not go into gear.
The gear-shifter solenoid or brakelight switch has failed.
To check the brakelight switch, start the car and step on the brake. If the brakelights don't come on, the switch is faulty. You'll find the switch under the dashboard above the brake pedal.
If the brakelights came on, your shifter solenoid is probably bad. In this case, here's a quick-and-dirty fix to get you moving...
Look for a small plastic cover next to the gear shift. Pop this off with a fingernail or small flat screwdriver. There will be a hole beneath the cover. Push a small screwdwiver down that hole untill you feel some resistance. You should now be able to shift out of park.
Be warned...this trick allows a shift even without touching the brake. So get the solenoid fixed as soon as you can.