TOYOTA 2011 Tundra - Manual (Page 208)

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2-1. Driving procedures
Automatic transmission
Select a shift position appropriate for the driving conditions.
n Shifting the shift lever
Floor shift type
While the engine switch is on, depress the brake pedal and
move the shift lever.
Column-shift type
While the engine switch is on, depress the brake pedal and
move the shift lever.