The ignition is locked due to the steering, try turning the steering wheel back and forth as you try to turn the key. Also try making sure the shifter is all the way in park by moving the shifter back and forth.
Simply grasp the steering wheel with one hand at the top of the steering wheel while the other one is on the ignition key and rock the steering and simultaneously GENTLY turn key. It will free up. If no go be more agressive with the steering wheel "shaking"
Your steering wheel lock is connected to ignition in column, pull hard on steering wheel in direction wheels are turned at the same time turn key, this should free them both up.
The same thing (locked ignition has happened to my Lexus...twice. The first time it corrected on it's own when I tried again 30 minutes later. The next time (which was this evening) I had to get it towed. The steering wheel and ignition were locked and the wheels locked so we could not get it out of the driveway onto the flatbed tow truck. Very very annoying. Why hasn't Lexus recalled this - there is no good reason this is happening.
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