If the shift lever cannot be shifted with your foot on the brake pedal, there may be a problem with the shift lock system (a system to prevent accidental operation of the shift lever). Have the vehicle inspected by your toyota dealer immediately.
The following steps may be used as an emergency measure to ensure that the shift lever can be shifted:
Vehicles with a smart key system: turn the engine switch to accessory mode.
To prevent damage to the cover, cover the tip of the screwdriver with a rag.

The shift lever can be shifted while the button is pressed.

If the engine
will not start
If the electronic key does
not operate properly
(vehicles with a
smart key system)Front occupant classification sensor rh circuit malfunction
Description
The front occupant classification sensor rh circuit consists of the occupant
classification ecu and the
front occupant classification sensor rh.
Dtc b1781 is recorded when a malfunction is detected in the front occupant
classification sensor rh
circuit.
Wiring diagram
...
Problem symptoms table
Hint:
Use the table below to help determine the cause of the
problem symptom. The potential causes of the symptoms
are listed in order of probability in the "suspected area"
column of the table. Check each symptom by checking the
suspected areas in the order they are listed. Re ...
Installation
Caution:
Be sure to read the precautionary notices concerning the
srs airbag system before servicing it (see page rs-1).
Install front passenger airbag assembly
Attach the rear side hook of the front passenger
airbag to the rear side airbag door.
Bend the front side hook so that it a ...