Using Lexus Hand-held Tester
WARNING: This page is about a different car, the 2002 Lexus RX 300. However, it is still accessible from the selected car via links, so may be relevant.
Connect Lexus hand-held tester to DLC3. DLC3 is located under left side of instrument panel. Clear DTCs by following prompts on tester. See tester operator's manual for instructions.