You have a shift interlock system. To bypass.
Set the parking brake.
Turn the ignition off and remove key.
Remove the cover over the shift-lock release slot by prying it off using a small, flat object, like a screwdriver. The shift-lock release is located at the top of the shift lever.
Insert the key into the shift-lock release slot and press and hold the key.
Shift to neutral.
Remove the key from the shift-lock release slot, insert key the key into the ignition and start the engine.
Hold the regular brake fully and release the parking brake.
Shift into the gear you want.
Have the system fixed as soon as possible.