Call up someone who can deliver to you your spare set of keys. (You should always have a spare set stored somewhere for this type of emergency. Some cars are expensive to get a new key made if you don't have an existing master (such as those with an engine immobilizer chip).)
If you have your VIN and some proof of ownership, a Toyota dealer should be able to look up your car's key code and cut you a new key based on your VIN.
Otherwise, your safest best bet would be to call a locksmith. If you have AAA or belong to another auto club, lockout service is usually included in your membership. If you are friendly with the local police, they may also have the tool to open your car for you.
Some people may recommend using a slim-jim or a twisted coathanger to manually unlock the car through the window, but if not done properly it can damage the car.
The tennis ball trick was tried on the TV show Mythbusters, and they were unable to get it to work.
http://mythbusters-wiki.discovery.co...+Opener?t=anon