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take out the tab and push in the shift lock release. it's in your owner's manual.
If you dont have the owners manual, (not everyone keeps them) pull off the tiny black tab near the bottom of shift lever and insert a tiny screwdriver and you'll be able to shift the car to whatever position you want.
Although, if the car is just dead, you should still be able to turn the key, put foot on brake, and shift out of park.