Lexus 2004 GX470 Owner's Manual page 381

STARTING AND DRIVING
Correct use of the automatic transmission is explained in
the following parts.
(a) Normal driving
(b) Using engine braking
(c) Using the "3", "2" and "L" positions
(d) Backing up
(e) Parking
(f) Good driving practice
(g) If you cannot shift the selector lever
(h) Driving in second start mode
366
(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 363.
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".