You probably have a trouble code stored in the engine computer for a faulty transmission selector switch. The engine computer thinks the trans is in 3rd gear and not park. Or it really could be stuck in third gear.
SOURCE: how to adjust parking brake on a GMC Sierra 2500
The adjuster is just like on a car with drum brakes. It can be adjusted with the wheels still on the truck, but if yours is out enough that it doesn't work, an inspection is warranted. Axle seal failure is common and will soak the shoes.
Jacked both rear wheels off ground, and while slowly spinning wheel, tighten the star-wheel adjuster until you just hear and feel brake drums rubbing, then loosened slightly.
There's a plastic dust cover about 1/4" X 1" that you remove, and use a drum brake adjuster tool.
The driverside access hole is below axle, easily accessable. To tighten driver side rear parking brake, turn star-wheel adjuster down.
The passengerside access hole is found above axle, and difficult to see. Removed pass side wheel and used an inspection mirror.
To tighten passenger side rear parking brake, turn star-wheel adjuster up.
Good luck and hope this helps. Oh and the other thing to is that if you do smell axle fluid around the wheels and see oil leaking from the drum area. Then you have a axle wheel seal and or bearing gone bad too.
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