Shift lock system
For your safety, the automatic transmission has a shift lock system which prevents shifting the transmission from P (Park) into R (Reverse) unless the brake pedal is depressed.
To shift the transmission from P (Park) into R (Reverse):
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Depress and hold the brake pedal.
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Start the engine or turn the ignition switch to the ON position.
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Move the shift lever.
If the brake pedal is repeatedly depressed and released with the shift lever in the P (Park) position, a chattering noise near the shift lever may be heard. This is a normal condition.

Always fully depress the brake pedal before and whilst shifting out of the P (Park) position into another position to avoid inadvertent motion of the vehicle which could injure persons in or around the vehicle.
Shift-lock override

If the shift lever cannot be moved from the P (Park) position into R (Reverse) position with the brake pedal depressed, continue depressing the brake, then do the following:
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Place the ignition switch or ENGINE START/STOP button in the LOCK/OFF position.
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Apply the parking brake.
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Carefully remove the cap (1) covering the shift-lock release access hole.
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Insert a tool (e.g., flathead screwdriver) into the access hole and press down on the tool.
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Move the shift lever.
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Remove the tool from the shiftlock override access hole then install the cap.
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Have the system inspected by a professional workshop. Kia recommends to a professional workshop. Kia recommends to visit an authorised Kia dealer/service partner.