GMC 2002 Yukon Denali Owner's Manual page 112

If the ignition is on when the parking brake is released,
the brake system warning light will go off.
NOTICE:
Driving with the parking brake on can cause
your rear brakes to overheat. You may have to
replace them, and you could also damage other
parts of your vehicle.
If you are towing a trailer and are parking on any hill,
see "Towing a Trailer" in the Index. That section shows
what to do first to keep the trailer from moving.
2-24
Shifting Into PARK (P)
CAUTION:
It can be dangerous to get out of your vehicle if
the shift lever is not fully in PARK (P) with the
parking brake firmly set. Your vehicle can roll. If
you have left the engine running, the vehicle can
move suddenly. You or others could be injured.
To be sure your vehicle won't move, even when
you're on fairly level ground, use the steps that
follow. If you're pulling a trailer, see "Towing a
Trailer" in the Index.
1. Hold the brake pedal down with your right foot and
set the parking brake.
2. Move the shift lever into PARK (P) like this: