Originally Posted by bclexus

Come to a full stop, and press VERY hard (literally) on the brake pedal until you see the Hill Assist icon appear in the instrument display.

Removing your foot completely off the brake pedal will disable the Hill Assist feature within a few seconds, or pressing on the gas pedal will disable the feature also. Continuing to apply a moderate amount of pressure on the brake pedal will retain the Hill Assist feature.