Why would you not be able to shift out of park in a 1999 Avalon?

sometime the brake release switch may not work. depress the brake see if the brake lights is working. it may be connected or may have a separate switch. new vehicle you must put your foot on the brakes to shift out of park some vehicle have a by pass switch on the gear shifter.. sometimes the switch might just slip out of the holder for the release check for broken wire good luck hope this help