You need to lay under the truck and have someone move the linkage through its range.
But with the parking brake on! If I remember correctly you'll see where the linkage from the column meets that to the transmission between the frame and the transmission. And there's a bolt and nut that join the two linkages, with a slot in one of them. So you loosen the nut such that you can move the two independently, shift the column into Park, shift the transmission into Park, and then tighten the nut.
Gary, AKA "Gary fellow":
Profile
Dad's: '81 F150 Ranger XLT 4x4: Down for restomod: Full-roller "stroked 351M" w/Trick Flow heads & intake, EEC-V SEFI/E4OD/3.50 gears w/Kevlar clutches
Blue: 2015 F150 Platinum 4x4 SuperCrew wearing Blue Jeans & sporting a 3.5L EB & Max Tow
Big Blue: 1985 F250HD 4x4: 460/ZF5/3.55's, D60 w/Ox locker & 10.25 Sterling/Trutrac, Blue Top & Borgeson, & EEC-V MAF/SEFI