2007 Nissan Armada security light on. WHY??

I let this 2007 Nissan Armada sit, the battery died, and I need to tow it to the shop. So I charged the battery to start it, to put it in gear, but when I turned the key, the security indicator light came on, and it wont release the key or go in gear for the tow.

I tried disconnecting the negative battery terminal to reset the computer, didn't work.

How can I get the security to reset?
How can I get it in gear?

HELP PLEASE!