Currently having the same problem (Since 2 months now) intermittently. Drove a few days with the central console (around the gear shift) removed so that i could manually release the small plastic interlock and get the gear shift into drive. Now its not as frequent so covered the console again. It does work after a few pumps of the brake pedal. I did spray WD40 in the general direction of the physical interlock mechanism thinking the same as what Galaxypilot suggested... that coffee had been spilled by the previous owner, but that's not the problem.
Anyway, thanks to Gixer2000, will get myself the part shown from the local Ford dealer.
Anyway, thanks to Gixer2000, will get myself the part shown from the local Ford dealer.