Ford 2002 Taurus Owner's Manual page 150

Driving
Hold the brake pedal down while you move the gearshift lever
from P (Park) to another position. If you do not hold the brake
pedal down, your vehicle may move unexpectedly and injure someone.
Understanding gearshift positions
P (Park)
Always come to a complete stop
before shifting into P (Park). Make
sure the gearshift lever is securely
latched in P (Park). This locks the
transaxle and prevent the front
wheels from rotating.
Always set the parking
brake fully and make sure
the gearshift is latched in P
(Park). Turn off the ignition
whenever you leave your vehicle.
R (Reverse)
With the gearshift lever in R
(Reverse), the vehicle will move
backward. You should always come
to a complete stop before shifting
into and out of R (Reverse).
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