how do you get the car out of park when it first start

Possible intermittent brake light switch OR shift lock solenoid failure .. Not sure if it'll work on 'floor' shifter but try this > turn the key to the ON position THEN back just enough to unlock shifter .. Shift to neutral, start engine and drive away... You can try spraying WD-40 into shifter cavity to see if that will help as sometimes soda/coffee etc, gets spilled onto/into console and gums up the shifter lock solenoid .. IF that doesn't help, suggest having items listed checked out by auto repair shop personnel.