Using Toyota Hand-held Tester
WARNING: This page is about a different car, the 2002 Toyota Celica. However, it is still accessible from the selected car via links, so may be relevant.
Install Toyota hand-held tester to Data Link Connector (DLC3). See Figure. DLC3 is located under left side of instrument panel. Read DTC by following prompts on tester. See tester operator's manual for instructions.