I don't know about the 2010, but check the manual for a "release" button. Mine (2013) has one on the console, it's a little square black plastic recessed place that you press with a screwdriver, the 8-speeds are on the dash next to the controller. But check your manual for location on your year and model. Either in the transmission or towing sections, they need a release for emergency towing, etc. Don't forget that the interlock won't release unless the engine is running and the brake pedal is depressed.
There is something in the manual about the truck getting stuck in park and there is an emergency release under the steering column. Most trucks have a small rubber plug that needs to be removed and then the reset can be triggered with a screwdriver I've heard of this on the 1500's before and remember reading it when I bought my truck.
My buddy had a Chrysler 200 and it happened all the time when it was cold. His shifter was on the console and he had a reset button in the console that he needed to reset constantly. Took the dealer two or three attempts to replace the proper part.