Brake Light On problems of the 2013 Toyota Camry

After making a turn onto a road, before entering a parking lot, my brake lights went on. It's a new car with only 3500 miles on it - the brakes should be fine. I turn into the parking lot, park the car, put it in park, and turn off the engine. I check the emergency brake, it was not engaged. I turn the car on and the brake light goes away. However, now I cannot take my car out of park. It is stuck in park. I step on the brake, I turn the wheel and the wheel turns fine. The gear is still stuck in park. I call the dealership, they send out a tow truck. I try my car one more time and it is still stuck in park. The driver of the tow truck tries, he puts his hand on the handle and behold, it shifts out of park and can go into r, n and d. Can you believe it?? I will continue to monitor this 'odd' occurrence. Hopefully, this will not happen again.