Set Desired Speed
WARNING: This page is about a different car, the 2002 Lexus LX 470. However, it is still accessible from the selected car via links, so may be relevant.
The transmission must be in "D" position before the cruise control speed can be set. Bring the vehicle to the desired speed, press the control lever downward in the SET/COAST direction and release it. This sets the vehicle at that speed. Take foot off the accelerator pedal. If acceleration is needed, depress the accelerator pedal enough for the vehicle to exceed the set speed. When you release the accelerator pedal, the vehicle will return to the speed set prior to the acceleration.