anyone know how to overide automatic detent

[X5Men]

Hi. My 2002 3.0 with steptronic with 105k would not go into park this morning when I got to work. I wriggled it and pushed and it popped in. Now, you guessed it, I can't get it to move out of park. It feels like when you forget to push on the brake pedal, the shifter will not move. Obviously I'm pushing in the brake. Anyone know how to override. Called the dealer and they did note there was a manual overide "but it's too complicated to tell you on the phone". I hate to have to pay towing cost to the dealer if there is some way for me to override. Thanks for any input.