That's because the transmission locks on Park when the car rolls on a hill. Before you switch to park on a hill, just pull the hand brake (e-brake) all the way and then change to park. When you restart the car first change the drive and then release the e-brake.
If you don't want to do the above, and you feel that the transmission is tight to change from Park - Drive, just press down on the brake harder and then you will be able to release it easier.
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