A month ago the disc brakes were changed by a buddy. Other than that nothing. ESC illuminates OFF. Now I mashed the ESC OFF button several times, it goes from Neutral to Park and will not change from Park to anything.
My Hyundai 2008 Veracruz transmission will not go to park or reverse from drive. on 2008 Hyundai Veracruz
I'm sure by now you have the answer, since it's been a year since your posting. However, we experienced the same thing twice. The first time, the dealership said it was due to a low battery charge. The second time, we were told it was due to a sensor which was directly related to the ESC sensor. They replaced the ESC components and all has been well since. For that.
I think you have a bad pedal brake sensor. Replace it and check, it's very cheap.