Using Lexus Hand-held Tester
WARNING: This page is about a different car, the 2004 Lexus LS 430. However, it is still accessible from the selected car via links, so may be relevant.
Install Lexus hand-held tester to DLC. Select on tester 1: DIAGNOSIS, 1: OBD/MOBD, MODEL YEAR, MODEL SELECTION = LS430, (select option parts) 8: SRS AIRBAG, 2: DTC INFO, 1: PRESENT CODES. Read DTC(s) on tester. See tester operator"s manual for additional instructions.