With Manufacturer's Scan Tool

CLEAR DTC
a. When using the intelligent tester: Clear the DTCs.
1. Connect the intelligent tester to the DLC3.
2. Turn the ignition switch ON.
3. Enter the following menus: DIAGNOSIS / ENHANCED OBD II / DTC INFO / CLEAR CODES and press YES.

HINT: When operating the intelligent tester to erase the codes, the DTCs and freeze frame data will be erased.