With Manufacturer's Scan Tool

CLEAR DTC (Using the OBD II scan tool or hand-held tester)

a. Connect the OBD II scan tool or the hand-held tester to the DLC3.
b. Turn the ignition switch ON.
c. Operate the OBD II scan tool or the hand-held tester to erase the codes. All the DTCs and freeze frame data will be erased. (See the OBD II scan tool's instruction book for operating instructions.)