Got a 2002 ES 300 and I had the same problem. I fixed the thing by doing the thing in Falcon's's post here on this forum:
http://www.toyota-4runner.org/problems-warranty-issues/32818-one-cause-fix-vsc-trac-vsc-off-lights-zero-point-calibration.html
All you need is a jumper wire and flashlight. Be sure to connect the right terminals and follow the procedure as explained. Make sure the car is on level ground and steady.