My 1990 Lexus sat with a dead battery for about a year. I replaced battery and it started right up, but I can't get the shifter out of park and into gear.

From sitting, the brake shift interlock solenoid has probably become stuck. There is a manual release near the shifter--you merely insert a key to push down the release. That will get you moving. With the engine running, try gently and rapidly pumping the brake pedal to get the solenoid moving freely. Be sure the brake lights are working.
In the worst case, you'll need to open the console to free the mechanism or replace the interlock.