2001 Honda CR-V - Can't use park

My parking gear does not engage but car shifts in and out of all gears?

Do you put it in park before the vehicle is 100% stopped??
When you put it in park does it still try to move in reverse??
Can you pull the shifter out of park without your foot on the brake pedal??
Can you remove the ignition key??

A few things could be going on here…

Your shifter is being blocked by something from going all the way forward…
Shift cable has gotten out of adjustment, mounting tab bent, part of it broke etc etc…
Shift lever at transmission issue…
Good possibility something broke with the parking paw mechanism inside the transmission…

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Suggest to clarify. Are you referring to the transmission function that prevents the car from rolling when the transmission is in P? Or are you referring to the parking brake function?