Why won't my Hyundai Sonata automatic transmission shift out of park?

It is a problem with your break switch. Had the same thing happen to my Sonata, try the shift lock release button to get it into drive. There are instructions in the manual. If your electronic stability control light stays lit, you need to take it to a dealer to get checked out. If you need a tow call the roadside assistance number in your warranty booklet that came with the manual.