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Make sure the ignition is on, step on brake, depress shift button and shift into neutral - this assumes that the battery has a little bit of juice left (lights will still work).
If the battery is very weak or completely dead - the electronic shift interlock is likely giving you problems. You'll have to remove the plastic plug toward the front of the shifter plate - shove a flat head screwdriver in the exposed slot - then shift the car into neutral.
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2002 Corolla S, 1.8L 1ZZ-FE VVT-i
2003 Matrix XRS, 1.8L 2ZZ-GE, VVTL-i (RIP)
2009 Matrix XRS, 2.4L 2AZ-FE VVT-i
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