You can do this using a Toyota scan tool or if you cannot do that, disconnect the battery. If you disconnect the battery you will erase all volatile memory as well, such as the clock and radio presets. Make sure you have a PIN number for your radio before you do this, and the engine is cold with the ignition off and driver's window open with the car unlocked, handbrake on in neutral or park. Disconnect the battery for at least half an hour, longer if it is really cold where you are. Reconnect the battery and start the car (central locking can sometimes operate when you do this, hence the open window). Allow the car to reach normal operating temperature (You may have to assist with the accelerator at first until the car begins to relearn the idle parameters). When the car is at normal temp drive the car with the A/C on for a few KMs to complete the relearn process.
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