Toyota Lexusc Owner's Handbook Manual page 466

Correct use of the automatic transmission is explained in
the following parts.
(a) Normal driving
(b) Driving in "S" mode
(c) Using engine braking
(d) Backing up
(e) Parking
(f) Good driving practice
(g) If you cannot shift the selector lever
(h) Driving in snow mode
STARTING AND DRIVING
(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 435.
The transmission must be in "P" or "N" position. The engine will
not start in any drive position even if the ignition key is turned
to "START".
447