Be sure you are in the correct forum for your vehicle.
Give the model year....vin number can be very helpful.
Describe the problem the best you can.
Tell us what has been tried, if anything.
If the vehicle has been to a repair facility it would be nice if you can scan or take picture of the bill and attach it to the post.
This information can save a lot of time and get you the answers you need much faster.
Has the ESC light come on? Even ocassionally? Had this happen on my 2007. Could not get it out of park sometimes. Had to replace the brake pedal sensor switch. $15 part, 20 minute repair. There's a Youtube video for it. May be your issue.