WARNING: This page is about a different car, the 1991 Lexus LS 400 and 1991 Lexus ES 250. However, it is still accessible from the selected car via links, so may be relevant.
Place floor jack on vehicle support points shown. See Fig 1 or Figure.
Fig 1: Jacking & Hoisting Support Points (ES250) Courtesy of Toyota Motor Sales, U.S.A., Inc.