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