1996 Lexus LS 400 Owners Manual - Page 147

STARTING AND DRIVING 5. Release the parking brake and brake pedal. Depress the accelerator pedal slowly for smooth starting. In normal cruising, the vehicle will start in the first gear and automatically shift to the most suitable gear for the running conditions. In "3" position, the automatic transmission system will select the most suitable gear for the running conditions such as hill climbing, hard towing, etc. If you need to accelerate rapidly while driving, depress the accelerator pedal to the full throttle position. This provides more acceleration by automatically downshifting the transmission to the next lower gear or beyond, depending on the vehicle speed. If engine braking is needed, such as in descending a long hill, see "(b) Using engine braking". "
"D" (Drive) position  Brake pedal 4. With your foot holding down the brake pedal, shift the selector lever to "D". Always use the "D" position to improve fuel economy and quiet driving. Only in this position, shifting into the overdrive gear is possible. However, while the engine coolant temperature is low, the transmission will not shift into the overdrive gear even in the "D" position. (See "(b) Using engine braking" and "(f) Good driving practice" for exceptions.) ! CAUTION Never put your foot on the accelerator pedal while shifting. 133