The Prius manual show it's OK to tow with the front wheels on a wheel lift. It also says you can pull it short distance and at slow speeds with all four on the ground BUT someone has to steer and brake it. I would say in this case you need to hold the brake while pushing the start key so you unlock the parking brake before pulling it.
At speeds above 42 MPH the engine has to turn, even if it's not running. See video link in my post above.