Lexus 2003 LS Owner's Manual page 251

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
STARTING AND DRIVING
(a) Normal driving
31L129a

1 "P" (Park) position
2 "N" (Neutral) position
1. Start the engine as instructed in "How to start the
engine" on page 235.
The transmission must be in "P" or "N". The engine will not start
in any drive position even if the ignition switch is turned to
"START".
237