Common issue with these vehicles. Your shift gate actuating solenoid is locking up. Replacement of the shift gate (gear selector assembly) will be necessary. But in the mean time to get it out of park you will need to knock the solenoid loose. Take a heavy object like a book (something that won't damage your gear selector) and while pulling on the selector hit the top of it with the book. This may take a few tries and in some cases won't work at all. But for most of these I've worked on, if you hit it hard enough it will pop loose. Also, if the book is not enough force you can take off the selector knob ( by turning the base counter clockwise) and hit the top with a hammer.