Mazda 6 Service Manual: No.2 vehicle moves in n position

No.1 vehicle does not move in d, s, l ranges, or in r position

No.3 vehicle moves in p position, or parking gear does not disengage when p is disengaged

Other materials:

Mazda 6 Service Manual: Rocking the Vehicle
WARNING Do not spin the wheels at more than 56 km/h (35 mph), and do not allow anyone to stand behind a wheel when pushing the vehicle: When the vehicle is stuck, spinning the wheels at high speed is dangerous. The spinning tire could overheat and explode. This could cause serious injuries. ...

Mazda 6 Service Manual: Manual Transaxle Shift Pattern
  The shift pattern of the transaxle is conventional, as shown. Depress the clutch pedal all the way down while shifting; then release it slowly. Your vehicle is equipped with a device to prevent shifting to R (reverse) by mistake. Push the shift lever downward and shift to R.   ...