How do you get a 1989 toyota out of reverse after the shifter came out?

I have a 1989 toyota pickup that won't come out of reverse after the shifter came out. I park at the store when I got in to leave the shift came out of the transmission. We cant figure out how to get it out of reverse. I need help please!!!How do you get a 1989 toyota out of reverse after the shifter came out?The shifter rod that connects the shifter knob to the transmission disconnected. It needs to be re-connected to the shifter and possibly re-adjusted to work properly again.