Lexus ES-300 2001 Manual page 310

(e) Backing up
31E010
" 1 Brake pedal
2 "R" (Reverse) position
1. Bring the vehicle to a complete stop.
2. With the brake pedal held down with your foot, shift
the selector lever to the "R" position.
NOTICE
Never shift into reverse while the vehicle is
moving.
STARTING AND DRIVING
293