Engine stalling when put in gear and brake ia applied. Check engine light is on and the parking brake light is on even though parking brake is not applied.

troubles at lights may very well mean a vacuum leak from a faulty brake booster
test by stopping and then applying the park brake and taking your foot of the brake pedal
you can do this test in the garage
start the engine , apply the park brake , place in drive
if it idles alright , put you foot on the brake
if it plays up , replace the brake booster

Brake light switch problem may cause the ESP / BAS lights to illuminate.

Common symptoms of a bad
Mercedes brake light switch.

• Car stuck in Park.
• ABS ESP ETS lights come on.
• Can not move the shifter from Park to Drive.
• Brakes Defective Warning on Instrument Cluster
• Car won't shift gears. Stuck in 2nd gear, limp mode.
• Brake lights don't work. (Brake light switch can still be defective even if the brake lights work. Checking the brake light operation is not a good test.)
• ESP, BAS, ABS lights turn on. Car won't shift properly. Stuck in gear.

TEST: To test your new brake light switch: Turn you car off to reset the ABS light. apply the parking brake. and start the car in neutral or park without using the brake. if the problem is the brake light switch... the light will only come on when you press the brake pedal.

If you replaced the brake light switch and the light is still on you should check a few other things such as:

• Fuses and Relays
• ABS pump
• ABS wheel speed sensor
• Brake Fluid Level
• Get an advanced scanner to read trouble codes.

NOTE: ** You may need a MBZ scan tool to reset the error code which was stored in the ECU because of the bad brake light switch.

This may help: http://www.toyotanation.com/forum/274-2nd-generation-2004-2010/199861-04-sienna-transmission-lock.html
There are multiple issues here.Won't crank? Go direct to starter.

Possible recall:http://www.toyoheadquarters.com/threads/2004-2005-2007-2009-toyota-sienna-shift-lock-solenoid-recall-d0r.206/

Have the catalytic converter checked at your local muffler shop...clogged...worn out...Hope this helps.

sounds to me like a severe vacuum issue...pump the brake pedal quickly while in park if engine start to stall or does stall then take carb cleaner and spray vacuum lines and around intake near gasket engine will rev or die out when you hit a leak...very careful inspection of lines if no money for carb cleaner..or it could be brake booster is bad...loud air sound when pushin or holding pedal would indicate and issue there

Apply the parking brake with the vehicle parked, engine turned off and transmission in Park. Release the parking brake completely, then apply it again, and ensure that it is fully released. Turn the ignition on, check to see if the Parking brake warning light is on. If it is NOT on, apply the parking brake and check to see if the warning light comes on. If the light come ON wihen the Parking brake is applied,.....fully release the parking brake and check if the warning light goes OFF. If it does NOT go off, then an adjustment is needed at the parking brake switch.

Common problem.

In future, when on put it in park only AFTER the handbrake is applied. Ideally, foot brake, shift to N, apply handbrake, release foot brake, shift to park.

If the incline isn't steep have someone push car uphill while you gently move gearshift shift out of park. If its a steep hill, call a tow truck and move to a level surface. The parking pawl in the transmission becomes groved over time (and sticks) unless you use the handbreak as described.

the rool back is down to slack in the drive line,
ie prop and back lash in the diff, there will also be some back lash in the gear box as well, this is completly normal so dont worry about it,, however you should all ways keep the foot drake on till you have put the habd brake on then and only them slip it into park as if you keep letting it rool back and stoping in park you could snap of the park claw inside the auto gear box, that a pricy repair, so please hold the brakes on before you go into park,,,
as for the stalling part,,, how fast is the tick over when warm and in gear (in drive with foot brake on)
if its less that 850 rpm thats the problem,,, auto's realy dont like a slow tick over, there is a lot of drag on an auto box, at tick over it should hold your car from rolling back on a slight hill or even drive up it with out you putting any power on to make it pull away, they also creep forwards in gear by them selfs, thats normal too,,safe,happy driving!!!!!!!

It can be either the shift cable or the Automatic parking brake release.
With your vehicle stalling it sounds like the parking brake release is leaking vacuum and causing stalling.

You can check with Autozone or Oreillys to see if there is an aftermarket part for that. Then locate the Auot release on your vehicle and when you take it off, slide the parts within the fixture to verify sticking.

Yes, most likely a fault in the auto transmission, and the car has shut itself off to prevent further damage.