I have a 1995 ES300. I am unable to shift into drive. I have to override it by using a key and putting it into neutral. Has anyone had this problem and how much it cost.

Before I bought my ES, I owned a 2nd Gen. Eclipse and the same thing happened to it. It turned out to be my transmission was dying. This might be your problem, or it might be something smaller. If I were you, I'd take it to the mechanic NOW, and maybe he can fix it before it gets worse and ends up eating a whole in your wallet!

the parking brake saftey switch is not engaging
which is when you press the brake to take it out of gear
you are pressing the brake pedal too shift right?
it might be the brake swithc or the lock mechanism in the transmission selector
for the handle