the VSC lamp is an all purpose lamp or trouble indicator..... (something is out of position,not necessarily faulty) on one of mine, it was the rubber oring seal around the gas cap. I removed it, put a new one on and it went off...
Is you VSC light on by itself, or is it on with a Check Engine Light as well. If it is just the VSC light then you need a Zero-Point calibration. This is supposed to be only done at a toyota/lexus dealer. They take out the VSC computer and run their diagnostics program and reset and configure(calibrate) your vehicles VSC. I personally would disconnect both battery terminals for at least an hour, even better overnight, this should allow enough time to have all the electricity drain completely from those computers. Hopefully this would reset everything. I would try this before going to the dealer, try to save some money. If it is the VSC and CEL(Check Engine Light), then you would have to get the codes read at AutoZone....they do this for free unlike the dealer and then post your codes up on this forum.