Perhaps the brake switch up under the dash has come loose, the pedal returning to a non-brake position, it's default position when you enter the car, presses up upon a switch.
When you depress the brake pedal and allow the plunger to fully extend this activates your brake lights, this also allows the shifter to be moved out of park, the reason you need to press brake pedal to shift car.
So there is a chance someone kicked the switch loose or that is is defective and needs to be replaced, just follow the arm of the brake pedal upwards from where your foot presses and you will find it, you may have to remove a panel that is supposed to prevent any feet from touching the wiring while you drive...
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