Put the rotor/drum back to it's normal place by using wheel nuts and washers to push it back on. At this point you should be able to rotate the rotor/drum.
If you can't, now put your wheel back on and spin it, this will give you the required leverage to line up the hole in the drum into the correct position so you can then release the adjusting screw that pushes the pads out. Release it a long way to allow the shoes to come in so they can get past the lip on the drum(if you have worn one)
IIRC, when I did mine last, Toyota don't use left and right hand threads for the different sides, this means that to loosen the spur wheel on the adjusting screw on one side will be opposite to the other side, in other words if you ratchet up on the left side to loosen you will need to ratchet down on the right side or vice versa. (That is if they don't use LH and RH threads)
You can download a free FSM (Factory service manual) online, which will give you full instructions and an exploded view of the parts, or you can see them at toyodiy.com
Make sure you readjust your park brake per the FSM sequence
ADJUST PARKING BRAKE SHOE CLEARANCE
(a) Disconnect the parking brake cable from the bellcrank.
(b) Remove the 2 bellcrank tension springs.
(c) Loosen the bellcrank adjusting bolt.
(d) Temporarily install the 3 hub nuts.
(e) Remove the hole plug.
(f) Turn the adjuster and expand the shoes until the disc
locks.
(g) Return the adjuster 8 notches.
(h) Install the hole plug.
2. ADJUST BELLCRANK
(a) Pull the bellcrank until all play in the interior linkage is taken
up.
(b) Screw in the bellcrank adjusting bolt to where it contacts
on the dust seal.
(c) Loosen it one turn, and lock it at that position with the lock
nut.
Torque: 5.4 N·m (55 kgf·cm, 48 in.·lbf)
(d) Install the 2 bellcrank tension springs.
(e) Connect the parking brake cable.
(f) Remove the 3 hub nuts.
3. SETTLING PARKING BRAKE SHOES AND DISC
(a) Drive the vehicle at about 50 km/h (31 mph) on a safe, level
and dry road.
(b) With the parking brake release button pushed in, pull on
the lever with 88 N (9 kgf, 19.8 lbf) of force.
(c) Drive the vehicle for about 400 meters (0.25 mile) in this
condition.
(d) Repeat this procedure 2 or 3 times.
4. RECHECK AND ADJUST PARKING BRAKE LEVER
TRAVEL