Check the E-Brake. This happened on my Tundra once after my dad drove it. He parked and, for some reason, decided to put the E-Brake on. Later that day when I went to drive it and put it in drive, nothing happened. I had to floor it to get moving. Then I noticed the red idiot light in my dash, and in bright red letters, "BRAKE". Took off the E-Brake and problem solved.