Park-Lock solenoid malfunction.
The solenoid is located on the shift lever, and activates when you press on the brake to unlock the gear shift lever to allow a shift to reverse or park position.
Press on the brake pedal with the ignition on and see if you can hear a small clicking sound each time you depress the brake pedal,
if you do not, the solenoid needs to be replaced.
You have to remove the console and gear shift lever assembly to get to it.
-- Safety Brake light fuse is blown
-- Brake switch (you should hear a faint clicking when applying the brakes)
-- Reverse lock-out pin is damaged
-- Park-lock solenoid malfunction/damage
-- Shifter cable/linkage damage
Worst-case requires shifter replacement