how do I disable the alarm on a 1995 Toyota Camry?

[Melanie]

I recently bought a 1995 Toyota Camry and I did not get the key fob for the alarm. My son had left the back door of the car open a little and the dome light drained the battery. When I disconnected the battery to have it charged, it activated my security features, shutting down the starter relay and not allowing me to disengage the gear shift. In order to have this disabled by a mechanic, I would have to have it towed and for a 15 minute job, I feel that is ridiculous. Is there anyone out there that can tell me how to completely disable or reset the alarm system manually? The key also does not unlock the drivers side door, as the lock itself is broken, so unlocking the door to reset the alarm will not work either.