Step e - In Case Of Not Using Hand-Held Tester, Clear The DTC

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

NOTE: Cancellation cannot be done by removing the battery cable or ECU-IG fuse.

Using SST, connect terminals Tc and E1 of the DLC1 or Tc and CG of the DLC3. SST 09843-18020 or 09843-18040.
Turn the ignition switch ON.
Clear the DTC stored in ECU by depressing the brake pedal 8 times or more within 5 seconds.

Fig 1: Inputting Brake Pedal Depressed Signal By Ensuring Stop Light Switch Activation & Deactivation
Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
Check that the warning light shows the normal code.
Remove the SST from the terminals of DLC1 or DLC3. SST 09843-18020 or 09843-18040.