With Manufacturer's Scan Tool

DTC CLEAR
CLEAR DTC (using an intelligent tester or Techstream)
(a) Connect the intelligent tester or Techstream to the DLC3.
(b) Turn the ignition switch ON and push the tester switch ON.
(c) Enter the following menus:
(1) Intelligent tester - Select: DIAGNOSIS / OBD/ MOBD / ECT / DTC INFO / CLEAR CODES /
(2) Techstream - Select: Powertrain / Engine and ECT / DTC / Clear /