My Hyundai 2008 Veracruz transmission will not go to park or reverse from drive.

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.