2000 Lexus ES 300 can not turn key in ignition

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First of all make sure the car is in park.
If not, the key won't turn.
If the car is in park and the key do not turn remove it, and spray a small amount of lock lubricant in the cylinder.
Insert the key inn and while taping on it softly with the palm of your hand or a hammer (softly) turn it.
If it does not work, spray more lubricant and do the same thing until the key turns.
The key cylinder should be replaced when you get it started.