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Yes this is usually the result of a drained 12 volt battery. The park mechanism is controlled by the 12 volt system in the vehicle, if the battery is low the vehicle cant actually engage park. First put the e-brake on to make sure the car doesn't roll. Shut the car off and charge the battery. If you don't have a charger, it can also be jump started with conventional jumper cables. There is a jump start positive terminal located under the hood in the fuse box, this can also be used to connect a charger. I attached a picture of the terminal.
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