2010 Toyota 4Runner Owners Manual - Page 198

2-1. Driving procedures Multi-mode type CTH21AS014 Vehicles without a smart key system: While the engine switch is in the "ON" position, move the shift lever with the brake pedal depressed. Vehicles with a smart key system: While the "ENGINE START STOP" switch is in IGNITION ON mode, move the shift lever with the brake pedal depressed. When shifting the shift lever between P and D, make sure that the vehicle is completely stopped. 174