I think this issue has been mentioned in other threads. If you started the car in accessory mode (without depressing brake), you need to shutdown first by pressing the power button once or twice without depressing brake until it shuts off. Then you put depress the brake and press power button.
If you started the car in accessory mode and then try to start the car in drive mode with your foot on the brake, it won't let you. IMO, it is not intuitive. Why can't I put the car in drive from accessory mode? Maybe Honda thinks you started the car in accessory mode to give your passengers radio and phone charging capability. If you left the car without the fob, it doesn't want your passengers or kids being able to put the car in drive without first shutting down. It seems a bit farfetched.
With respect, I beg to differ.
If you push start with no foot on brake and enter accessory mode, you can go
directly to driving or on mode by pushing start one time with foot on brake pedal. It’s the same result as a normal start up (foot on brake, push start).
Here is where it gets confusing.
If you are in accessory mode and push start
without your foot on the brake, you go into some sort of in between mode where some warning lights are on, the DRTs are on, but you can’t select anything but Neutral and Park and thus can’t “start” and go anywhere.
Again, no problem, just start up as usual by foot on brake and push start.
The problem for me until I figured this out was that I keep trying to select R or D (not noticing they would not illuminate) and wondering why the car wouldn’t go anywhere. With the DRTs on, it can make you think you’ve started up and are ready to go when in fact you’re in this “in between mode”.
Bottom line, at any time, from any mode, just put foot on brake and push start once to drive away.
At least that’s what my car does.
I also had to learn that if I am using brake hold and turn off the car, then the next time I start the car the parking brake is on and I’m sitting there going @#*%¥, why won’t this thing move!!!! Then I hear and see the notice to release parking brake which I didn’t expect because I didn’t put the parking brake on.