Using Toyota Hand-held Tester
WARNING: This page is about a different car, the 2002 Toyota RAV4. However, it is still accessible from the selected car via links, so may be relevant.
Install Toyota hand-held tester to DLC3. See Fig 1. DLC3 is located under left lower side of instrument panel. Read DTC by following prompts on tester. See tester operator's manual for instructions.