If you're leaving it in reverse while parked then it must be a stick shift. If it was an automatic you wouldn't be able to take your key, and leaving it in gear would do nothing to stop it from rolling considering the slippage of the torque converter.

It sounds like the switch that senses the transmission is in reverse gear (for turning on the backup lights and the R on the dashboard) is stuck. However, that shouldn't prevent the engine from turning over if you have the clutch pushed in. If so, maybe it's a Toyota thing; I never had that issue with a manual transmission Dodge or Ford in the past. Call up a mechanic or the Toyota dealer repair department to find out what's wrong. By the way, it's also possible the battery is toast, or there is a problem in the ignition switch, starter solenoid, or starter itself.

P is for parking R is for reverse.

Normally you cannot take the key out whilst it's in anything but P

Could be something in the shift mech stuck. I'd try pulling a cable off the battery or if you are really brave a fuse and see if that resets it.

Otherwise, call the dealer.

Hello

That is because you should have been leaving it in P not R. It will not start as automatics must be either in P or N to start. This is to stop it being started in gear

Andy C

You said it is automatic, why would you park it in reverse? No matter I think your battery is dead.

I have a Toyota Yaris automatic. I always park it on an incline and leave it in reverse. I went to use it today and it won't come out of reverse! just beeps, flashes R and will not start up. i have turned it off and taken key out but it is still beeping!