Lexus 2004 GX470 Owner's Manual page 379

STARTING AND DRIVING
Starting the engine
Before starting the engine, be sure to follow the instructions in
"Before cranking".
Normal starting procedure
The multiport fuel injection system/sequential multiport fuel
injection system in your engine automatically controls the
proper air-fuel mixture for starting. You can start a cold or hot
engine as follows:
With your foot off the accelerator pedal, turn the ignition key to
"START" position, then release it.
NOTICE
D Do not race a cold engine.
D If the engine becomes difficult to start or stalls
frequently, have the engine checked immediately.
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Engine should be warmed up by driving, not in idle. For
warming up, drive with smoothly turning engine until engine
coolant temperature is within normal range.
If the engine stalls...
Simply restart it, using the correct procedure given in normal
starting.
If the engine will not start...
See "If your vehicle will not start" on page 438.