[f5fstop]

Webb70 has a good point, if that is not the case, you can try what DarthKarl says, it might work IF this is the problem.
Inside the console is a device called the transmission shift lock control actuator that prevents you from moving the trans out of park unless you are stepping on the brakes. (Thanks to 60 minutes and their campaign to kill Audi.)
If this solenoid fails, the trans cannot be shifted out of park.
If the BCM senses the ignition has been turned On, and the PCM sends a signal to the BCM that the trans selector is in park, and the brake pedal switch signals the BCM that the brake is depressed, the BCM energizes the solenoid and allow the lever to be pulled out of park.
It could be the brake switch is bad (check your brake lights, if on, switch should be ok), wiring from the brake switch to the BCM, wiring from the park lever control to the PCM, signal and wiring from the PCM to BCM, wiring from the BCM to the solenoid, or could be the BCM took a dump.
Have you added any accessories and tapped into any circuits? Have you had the console out?
It could even be the swizzle stick inside the trans selector handle. When you push in the button, it pushes a plastic stick down the handle to disengage it from the position. We call it a swizzle stick, because it looks like one, although it is a heck of a lot stronger than the swizzle stick in my Morgan's Rum.