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If you run the engine with the trans in neutral, it will probably stay in. If you put it in gear, it may work its way out in 1st gear or come flying out in high gear. Of course, you could simply remove the yoke before firing up the engine.
If the brake (parking) is still attached, engage it, put it in neutral, and your on your way. Don't pull off the yokes, as your tranny fluid will go everywhere.