Lexus ES-300 2001 Manual page 304

STARTING AND DRIVING
(b) Normal driving
31E006
" 1 "P" (Park) position
2 "N" (Neutral) position
1. Start the engine as instructed in "How to start the
engine" on page 283.
The transmission must be in "P" or "N". The engine will
not start in "R", "2", "L" or "D" position even if the ignition
key is turned to "START".
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