Stuck in park

Your stoplight switch is bad, or one of the wires going to it broke. Happenxd to me.. Up at the top of the brake pedal, may have to remove the plastic shield, I leave mine off. They sell a pigtail to fix the wires somewhere, but you should be able to do it with a crimper, some butt connectors, and a bit of wire, or it's just the switch. i'd replace it anyway, it's cheap. Won'd come out of park when the brake lights don't go on.

The reason the brake pedal gets tighter when pumping the pedal to test the brake switch is that the engine is not running to make more vacuum going to the brake booster diaphragm.