ESP / BAS light on
 

When I start my 2010 dodge journey sxt the esp and bas lights came on and I can`t shift from parking.Then I switch off the engine , turn on the ignition and move shift to neutral,start the engine and move shift to drive, otherwise I`m not able to shift gears,any idea on this problem ?
thanks.

The PARK position lockout solenoid is not actuating
when you step on the brake pedal , there is an emergency
release mechanism built into the center console.
It could be the brake pedal switch is bad or relative to
your lighted symbols I don't believe the battery is at fault
seeing that your DJ starts.
Corroded connections at the TIPM(fusebox) would be something else to check.

switching the ignition key on and off three times I read a code P 0571,what does it mean?

P0571 indicates a faulty brake switch.

Use Google to find these code definition.

Google is your friend.

As this code anything to do with the ESP / BAS light being on and not let me change gear from parking when the engine is on?

You won't know until you clear/repair/replace the brake switch.
It's located on the brake pedal assembly under the dash, there
have been posts where one of the wires at the switch has poor
connection or has come off.