2004 Toyota Echo Frozen in place

After traveling for one month, we returned from a trip this week to find our Toyota Echo frozen in place after sitting in the driveway for a month. We live on Cape Cod and there was rain, snow and freezing rain while we were gone. We called AAA who came and tried to free the tires from the ice on the ground and stated that was not the problem. They suggested that it was the brakes and the wheel axel that is frozen. Do you have any suggestions on how to get the car moving? They also said they could not tow if because the wheels are not turning. Thank you for whatever help you can give.