For those who have the same problem, here's the answer.

I asked the same question of  my Toyota dealer's service people and
this is what they told me.  It worked fine on my Tundra, Sienna and my
daughters Echo.

Put the odometer on ODM and turn off the engine.  Press down on the
rod that changes it from Trip A, Trip B, ODM and start the engine.
After maybe 10 seconds there will be  count down bars where the
miles would be.  After the last bar dissapears the service light
should go out and not come back on until the next 5000 mile
increment.

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