With Manufacturer's Scan Tool

CLEAR DTC

a. Connect the intelligent tester (with CAN VIM) to the DLC3.
b. Turn the ignition switch to the ON position and turn the intelligent tester on.
c. Enter the following menus: DIAGNOSTICS / OBD/ MOBD / METER / DTC INFO / CURRENT CODES.
d. Erase DTCs by pressing the YES button on the tester.