Without Hand-Held Tester

WARNING: This page is about a different car, the 2002 Lexus RX 300. However, it is still accessible from the selected car via links, so may be relevant.

Using special tool (09843-18040), jumper between terminals Tc and CG of (DLC3). See Fig 1.
Turn ignition switch on. Read DTCs from ABS warning light and VSC warning light flashing patterns on combination meter. For the flashing patterns of normal and codes 11 and 21, see Fig 2.
If any DTCs are retrieved, perform appropriate test. See DIAGNOSTIC TROUBLE CODE DEFINITIONS . If 2 or more malfunctions are indicated, lowest numbered DTC will be displayed first.
If a code does not appear, inspect the diagnostic circuit, VSC warning light circuit or ABS warning light circuit. See SYSTEM TESTING .
Remove jumper between terminals Tc and CG.

Fig 1: Identifying (DLC3) Terminals

Fig 2: Identifying Flashing Patterns