Toyota Lexusc Owner's Handbook Manual page 467

STARTING AND DRIVING
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1 Brake pedal
2. With your foot holding down the brake pedal, shift the
selector lever to "D" position.
Always use the "D" position to improve fuel economy and quiet
driving. 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 "(c) 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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2 "D" (Drive) position
3. Release the parking brake and brake pedal. Depress
the accelerator pedal slowly for smooth starting.
In normal cruising, the vehicle will start in first gear and
automatically shift up to the most suitable gear. On inclines,
declines or winding roads, etc., the vehicle shifts up and down
automatically according to the running conditions to obtain the
suitable driving power and engine braking.
If you need to accelerate rapidly while driving, depress the
accelerator pedal to the full throttle position. This provides
more acceleration by automatically downshifting the
transmission to the next lower gear or beyond, depending on
the vehicle speed.
If engine braking is needed, such as in descending a long hill,
see "(c) Using engine braking".