Thank you for the info - I was equally surprised to have this experience but at least now I understand why. The tires are ok and I thought the VSC should have dealt with it - am still waiting for the owner's manual.
Thanks, everyone. I didn't lose the control of the car but just a little "delay" when taking off. Just like when you drive on a snowy road you have to pedal harder to make it move. So I guess this is normal for a Lexus.