2004 Scion xB automatic, in park, gear shift lever just loose
 

I have 2004 Scion xB with an automatic transmission. When I went to drive it today, the car started up fine, but when I went to move the shift lever to drive, the car never went out of park. The battery is fine, all lights work, radio works. The lever moves freely, but it doesn't change any gears. The car stays in park. No previous sign of trouble, transmission fluid level is fine. Any idea what's wrong? I'm thinking a cable or something is loose. Any idea how to put it in neutral for towing without using the gear shift lever? Googling hasn't help me for that model year.

The tow truck driver had me start the car, then he finagled with something under the front end and got the car in reverse and then drive. I just drove it onto the flat bed for him. He wouldn't tell me what he did tho. Waiting to hear what the fix is and how much.