To get a replacement Owner's Manual or to get a Service Manual, visit your Toyota dealer or call their Material Distribution Center directly at 800-622-2033 between 7:00 AM and 5:00 PM Pacific Time.
Alternatively, you can access it online at the Toyota Technical Information (TIS) Web site. The Web site costs $10 to access for one calendar day (ending at midnight PST), $50 for a month, and so on. However, the site has a ton of info including the Owner's Manual, Repair Manual, and Technical Service Information Bulletins (TSIB's). It's all in PDF format so you can download it. The catch - the manuals are chopped into lots of PDF's that are a couple of pages long. It's real easy to use online, but it's time consuming to download entire books. The Owner's manual is about 25 PDF files, so that's reasonable to download and save the entire thing. The Service Manual is huge, so you'll never get it all. Still, you could come back to the site 10 or 20 times before you've paid for a paper copy of the Service Manual.
The TIS site is
http://techinfo.toyota.com.