Can't shift out of park

I have a '03 Pilot EX. Recently I've had problems shifting out of park. It's like it doesn't know I've pressed the break. After a minute or 2 of fighting with the shifter it will all of a sudden shift out of park. I'm not sure if this is related but for a couple of months the stearing wheel has been shaking when I reach speed of 40mph or so. Then it shakes worse when I break. I've had the breaks and the rotors checked, the front breaks and rotors were ok the back were replaced. Any ideas on what could be causing this problem. Thanks in advance.

The brake safety switch might be out of adjustment or just loose. Look at the brake pedal lever. It should be there.

Good luck,

Sam