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Originally Posted by toyo_tech
or you can to it the RIGHT way. with the car key on ACC, set your odometer on mileage(not trip a or b) then turn ket off. then hold they button that switchs from odo and trip, then turn the key back to acc. while you are holding it down you will notice the maintenance light blink and go out. and then you are done. now that wasn't hard now was it. 
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Followed the above example on my 2005 Highlander, after some adjustments to the wiring on an aftermarket HID headlamp conversion. Thank you for posting it.
Noticed that you had to put the key to
"ON" not to
"ACC" to do it
Revised procedure (for Highlander)
Turn ignition key to 'ON' and press the odometer button until the display reads actual mileage... not Trip A or B.
Turn ignition key to OFF.
Hold in the same button you used in step 1.
While holding the button in, turn ignition key to 'ON'.
The 'Maint Reqd' light should blink and go out.