There two approaches you can take. You can manually raise them by adjusting some bolts on the headlights themselves, or you can find the headlight leveling switch on one of the control arms, and adjust it that way to fool the car to think it needs to raise the headlights. Both are equally as effective and won't cause any problems.
Personally, i'd try to locate the switch and adjust it. This assures both headlights move equally. Not sure where the switch is located on the ES, my guess on one of the control arms. It will look like a tiny arm (maybe 4") connected to another arm of equal size, between the control arm and the undercarriage of the car. It's located on the RR control arm for the Rx300, so i'd start looking there.
The arm will be connected to a switch (which is like a potentiometer) which tells the computer if there's weight in the back of the car (which would raise the front end causing the lights to blind people) and counteracts this to lower the headlights. Just remove the arm completely and rotate the potentiometer until the headlights are the position you like, and leave it there... This way the car will think there's "negative" weight in the car, and will leave the headlights a little higher for you all the time.
Thanks allot i.d.k. what half of those things were but i will deff take it to my buddy who is a mechanic and tell him this because if i did it myself i think i would be lost. do you think this wold take long?