Lexus ES300 Owner's Manual page 243

(a) Normal driving
" 1 "P" (Park) position 2 "N" (Neutral) position
1. Start the engine as instructed in "How to start the
engine" on page 226.
The transmission must be in "P" or "N". The engine will not start
in any drive position even if the ignition key is turned to
"START".
STARTING AND DRIVING
" 1 Brake pedal 2 "D" (Drive) position
2. With your foot holding down the brake pedal, shift the
selector lever to "D".
Always use the "D" position to improve fuel economy and quiet
driving. Only in this position, shifting into the overdrive gear is
possible. However, while the engine coolant temperature is
low, the transmission will not shift into the overdrive gear even
in the "D" position. (See "(b) Using engine braking" and "(f)
Good driving practice" for exceptions.)
CAUTION
Never put your foot on the accelerator pedal while
shifting.
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