With Generic Scan Tool

CLEAR DTC

a. Connect the hand-held tester or the OBD II scan tool to the DLC3.
b. Turn the power switch ON (IG).
c. Turn the hand-held tester or the OBD II scan tool ON.
d. Check that the shift position is in the P position.
e. Clear DTCs and freeze frame data with the hand-held tester or the OBD II scan tool.

For the OBD II scan tool, see its instruction manual.