ack94wv,
If you are absolutely sure the dealer changed the oil, you can follow the procedure mentioned by Gary. I would suggest you reread page 79 in the 2005 Owner's manual. It really covers this issue quite well. It is possible that the person who changed the oil forgot to reset the reminder light.
You might also want to double-check with the dealer to see if there is any record of them actually changing the oil. Sometimes service bays get busy and mistakes happen. If there is no actual record of them making the change, it would be safer to just go ahead and get an oil change to be on the safe side.
I too recently purchased a 2005 RX330. But, since I am a bit psycho about my oil, I immediately replaced whatever was in the car with Mobil1 and a new filter. I also reset the light. In the 2,500 miles since the change my light has not come on.
Bob