whilst driving the car makes a beeping noise and the park brake light stays on, so im guessing its not registering its out of park or something how do i fix it?
Yes the noise your hearing is the warning that the (E) Brake is still on, or hasn't gone down far enough. Just give it a bang with your fist when is as far down as possible first. If this doesn't fix it, well you gotta locate the switch it hits...
The handbrake switch is down under the plastic and is easy to replace once center console is off, chances are its broken and making it thing the handbrake is always on.