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EPC light should have nothing to do with the shift interlock,(EPC is traction control) should be a small cap or plug on the console, near the shifter that has the interlock disengage button,usually done with a key,check shift interlock in the owners manual.
That light comes on when there is a fault with electronics or emission controll systems. You'll need to plug in a VAG COM to read the codes and see what the problem is. AutoZone will usually let you borrow a VAG COM, or you can take it to a shop and they can read it for you. The light won't go off until you fix the problem.
EPC = Engine Power Control it's the engine control module yellow warning light. You need access and erase the EPC memory by DTC (Diagnostic Trouble Codes) using diagnostic equipment connected to the data link connector of the car, in order to reset the EPC, and turn off the EPC yellow light.