Acura TL 2007 Owner's Manual page 258

Manual Transmission
1. With the clutch pedal pressed,
move the shift lever to the first/
second gear side of the neutral
gate, then shift to reverse.
252
2. If you are still unable to shift to
reverse, apply the parking brake,
and turn the ignition key to the
ACCESSORY (I) or LOCK (0)
position.
3. Press the clutch pedal, and shift to
reverse.
4. With the clutch pedal still pressed,
start the engine.
If you need to use this procedure to
shift to reverse, your vehicle may be
developing a problem. Have the
vehicle checked by your dealer.