2004 Toyota Sienna will not shift out of Park after replacing dead battery.

Question edited for clarity, so few words, so many mistakes! Add Maker and it's a Sienna not a Sienne.
Question moved from Computers category to model category.
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When you changed the starter, did you disconnect the battery? And if you did did you reset the security system and engine Immobilizer?

https://www.google.com/search?q=2004+toyota+sienna+anti+theft+reset

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with what another dead battery? LOL
wow, when did it last run last week, 3 years ago?
what is mileage, 50k 500k?
engine run"? ok, my guess, is yes.
does head lights work with full brightness>? and fan blower on?
my guess, is yes.
how are my guesses doing?

1. :is battery charged to 12.6vdc , rested? this be FIRST.
2. the brake lights do in fact activate , park lockout on all a/t cars.
3. so fix brakes first. yes, fuse, and is marked brake.
4. did you read the operators guide, see the fuse boxes, and all are marked? see the number of boxes in car, as many as 3 ?
5. if the fuse is good, key on, 12vdc on both sides , we then check for 12vdc to the brake switch, ok its good, now brake pressed key on, the switch output goes to 12vdc and all brakes glows.
6. of 0v now, the switch is bad,if 6vdc its a shorted line, you do know that brake lamps do short ,right, so replace them is 1 time easy fast fix. FOR SURE.

the operators guides of most cars cover fuses. this is like automatic check we do on all cars made, my hand lurches to glove box.
the guide is free for 10 + years. if lost,its free online at
drum roll, toyota.com

http://www.toyota.com/owners/web/pages/resources/owners-manuals?p_p_id=changemodelyear_WAR_toyotaownersonlineportlet&p_p_lifecycle=1&p_p_state=normal&p_p_mode=view&_changemodelyear_WAR_toyotaownersonlineportlet_action=processRequest&_changemodelyear_WAR_toyotaownersonlineportlet_javax.portlet.action=processRequest

finding the chapter online is hard , no full book

See "Fuse locations" on page 449 in Sec-tion 7
?
1 for locations of the fuses
found it
http://www.toyota.com/t3Portal/document/om/OM45412U/pdf/7-1.pdf

there are 3 fuse boxes. so, did you look in all 3 yet
for BRAKE

This may help: http://www.toyotanation.com/forum/274-2nd-generation-2004-2010/199861-04-sienna-transmission-lock.html
There are multiple issues here.Won't crank? Go direct to starter.

Possible recall:http://www.toyoheadquarters.com/threads/2004-2005-2007-2009-toyota-sienna-shift-lock-solenoid-recall-d0r.206/

check stop lamps is working. if its not working check stop fuse on fuse box located under the dashboard.

Yes this would be a transmission neutral safety switch problem. the switch sit over the post that the shift cable attaches to on the ****** case. Picture below.

It is on the outside of the ****** where the shift cable hooks up.

Check all fuse panels & fusible links

I have written step-by-step instructions on how to replace the radiator in a 2004-2007 Toyota Sienna, including removing the bumper: John Fixes Stuff How to Replace the Radiator on 2004 2007 Toyota Sienna

some will reset by locking and unlocking the door with the key.....or .need to replace the battery in the car it is dead and when u try to reset it trips again because it is dead

Sounds like you have a faulty Steering lock. Try wiggling the steering whell while turning the key, also make sure gear shift is park.