On the modern electronic lever selector (right of gearstick, not central selector), if you are reversing and open the drivers door to see how far back you need to go, it will automatically put you into PARK mode. You can then override this by pressing the 'R' again so that you can reverse while the door is open. After you switch off, it will revert to the safe mode, so when you next switch on, opening the driver's door will put you into PARK mode (while stationary or moving slowly. Moving quickly won't do this, as this could screw up your gearbox).
In fact, if you have the electronic selector rather than the manual selector, you don't actually need to put it in to PARK mode, as opening the door or switching off the engine automatically does this for you.