Try shaking the steering-wheel back and forth while turning the key. Also make sure the shifter is all the way into park. What sometimes happens is when you shut off the car the power-steering stops with the engine and the steering-wheel locks as it is turning, putting pressure on the pin that locks the steering-wheel.
Ok, this should be an easy thing. If the steering wheel is locked you need to pull the wheel as hard as you can to the left and turn the key, or if it is locked to the right you need to pull the wheel to the right and turn the key. This should free up the key and wheel and your gear shift.
Try turning the steering wheel (hard) right and left while turning the key. Steering lock , and ignition lock work in conjunction with each other.
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