Setting At Desired Speed
WARNING: This page is about a different car, the 2003 Lexus ES 300 and 2002 Lexus ES 300. However, it is still accessible from the selected car via links, so may be relevant.
The transmission must be in D before you set the cruise control speed. 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. Now you may take your foot off the accelerator pedal. If you need acceleration, for example when passing, 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.