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Make sure the shift lever is ALL the way to whichever side of the shift pattern it should be to go into reverse and that the clutch is ALL the way depressed. Give it a few seconds from the time you depress the clutch to let the input shaft stop spinning.
If you still have a problem the shift linkage might just need adjusted if there is no problem going into any other gear.
Both my Hondas had that problem. Let the clutch out in nuetral or 1st then push the clutch in and go into reverse.
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