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Automatic Transmissions are locked in Park by a Solenoid Controlled Plunger which is released when the Brake Pedal is pressed.
It is either the Solenoid that has failed thus not releasing the lock, the Brake Pedal Switch that has failed thus preventing the power getting to the Solenoid, a Wiring issue or a module controlling it.
I would suggest you check the Voltage to the Solenoid first when you are pessing the brake pedal. Also check the earth to make sure that is present. If Voltage and Earth are at the Solenoid then it is the Solenoid at fault!
If there is no voltage to the solenoid the work back to the Brake Pedal Switch and check Voltage there. Also check continuity between the various points.