The Hyundai Avante CN7 is equipped with an Electronic Parking Brake (EPB), as shown in the picture below.
It is located below the gear shift and this is how it works:
To release the electronic parking brake, push down on the button. Switch the gear to D (Drive) and off you go!
To engage the electronic parking brake, shift the gear to P (Park) and pull the button up. To be doubly sure, you'll see the same sign on the button lit up on the dashboard.