With Generic Scan Tool

CLEAR DTC

NOTE: Clearing the DTCs will also clear the freeze frame data, information and operation history data.

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