2001 jaguar stype won't shift from park, what do I do?

It may be that the gearbox parking pawl is jammed due to high loading on it in park - especially if you stopped on a gradient. try pushing the car uphill slightly to ease the load while somebody else tries to disengage from park. Other cause is a small plastic part in the selector that sometimes breaks.
when parking on a hill, hold foot brake - use park brake - then engage park.
Hope this helps.

The brake switch may be bad on the pedal. Brake lights may still work but signal to trans is lost somewhere. First make sure all fuses are ok. Then test the switch. Voltage should be present on one wire then with the pedal depressed the other wires should have voltage.