2002 GMC Yukon Owner's Manual - Page 113

If the ignition is on when the parking brake is released, the brake system warning light will go off. 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. With four-wheel drive if your transfer case is in NEUTRAL, your vehicle will be free to roll, even if your shift lever is in PARK (P). So, be sure the transfer case is in a drive gear -- not in NEUTRAL. 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. 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. 2-27