If this car has the shift lever located on a center console, there should be an emergency release control. (Japanese cars have such a device, and I am assuming that American makes do too.)
If there is a visible slot or opening in the console next to the shift lever (possibly covered or plugged by a piece of plastic), that should be the release. Normally, one removes the plastic cover, inserts either a screwdriver blade or a key into the release slot to operate the release.
I would suggest that you consult your Owner's Manual to determine:
If this car has a release mechanism such as I have described
Where exactly the release is located
What should be inserted in order to release the shift mechanism
In other words, if everything else fails, read the instructions!