TOYOTA 2010 Yaris - Manual (Page 349)

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5-2. Steps to take in an emergency
If the shift lever cannot be shifted from P
If the shift lever cannot be shifted with your foot on the brake, there
may be a problem with the shift lock system (a system to prevent
accidental operation of the shift lever). Have the vehicle inspected by
your Toyota dealer immediately.
The following steps may be used as an emergency measure to
ensure that the shift lever can be shifted.
Set the parking brake.
Turn the engine switch to the ACC or ON position.
Depress the brake pedal.
Pry the cover up with a flathead screwdriver or equivalent.
Press the shift lock override
button.
The shift lever can be shifted
while the button is pressed.