I know you are going to have to buy a DVD disc to update. The discs are pretty expensive and you can buy it at a toyota dealership.
You can also try ebay to find a new disc. They will have it significantly cheaper.
The disc is something like this:
http://search.ebay.com/search/search...ate&category0=
Make sure you get the right version.
There is a navigaton reciever somewhere in your car, either in the trunk or beneath one of the seats. You just eject the old disc and insert the new one.