The shift-lock system prevents shifting out of P unless the brake pedal is depressed.
To shift from P:
Depress and hold the brake pedal.
Start the engine.
Press and hold the lock-release button.
Move the selector lever.
When the ignition is switched to ACC or the ignition is switched off, the selector lever cannot be shifted from P.
The ignition cannot be switched to OFF if the selector lever is not in P.