the light is on the left front panel near the abs and emergency brake light

if its a orange ! with ( ! ) if it looks like this its a low tire light on all
w newer rides well most of them

all it means is the tires have low pressure and you need to fill them up.
make sure that you let the tires cool down before you fill them up because the air expands when hot and they go to regular temp in 20 mins.
all you need is a tire gauge and a air compressor.
and l believe that lexus tire pressure is at 30 to 30 psi.

Your TPMS (Tire Pressure Monitoring System) has tripped because one or more of your tires are under the minimum PS l allowed before the system considers it ''low.'' l am sure the tire will do about 32 psi to reset back, so one, or more tire(s) is probaly 28 psi or lower. Once you fill up, you will be fine the next time you start up.

Danger Will Robinson, Danger!

Check your tire pressures, do not forget the spare!