Parking Brake / Emergency Brake

I have a 2009 Armada SE 2WD. I need to adjust the e-brake/parking brake, as it is very low and I know I am putting too much pressure against the transmission when parked in a slope (my driveway) or when I am at a boat ramp to put/get the boat from. I am hearing the hard sound and sometimes hard to get off 'P'. I have tried looking for YouTube videos or anyone here, but I can't find any thread that may explain such. A little guide would be great!

Thanks in advance!

-Alex