Service Engine Light Ses On How Can I Reset The Ecu For It To Turn Of

[Burgundy GS300]

Hey guys,

kind of new here and havent yet explored too muhc hopefully im not reposting.

I would like to find out if anybody knows how to reset the ecu so that my (SES) Service Engine Soon light will go off I think it malfuntioned and turned on and now wont turn of and I kind of dont have too much to to go to someone to reset it. A friend of mine has a maxima and can reset it manual himself.... Hopefully lexus cars can do it also.

2002 GS300

Thanks You