On the fender side of the lamp housing there is an adjustment knob on the adjusting screw.
See:
http://www.toyotanation.com/forum/t87813.html middle picture for the passenger side light, you other one is similar.
Firstly, shine the light onto the wall or garage door and mark with tape. adjust a tiny bit only, as a little adjustment means alot when you are trying to light up the road 100 meters in front of you.
If you are out of the adjustment screw's range, there is a pivot nut near the top, and you can turn that counter clockwise to aim down the headlight as well. You should remove your side marker to access that. Use a 10mm open end wrench.