I assume you are pressing firmly on the brake pedal. If so, it is most likely the brake safety switch, not detecting that you are.
Contact your dealer about the override for this, (usually there is a button somewhere), if that fixes it, you need to get it replaced.
All new cars require that you press the brake to be able to shift out of park; this prevents the so-called "sudden acceleration" problem, when you put your foot on the accelerator instead of the brake, shift into drive, and then no matter how hard you press on the accelerator (which you *think* is the brake), the car will not stop, in fact it "races out of control".
But occasionally this switch goes bad and has to be replaced.
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