Look in your 2001 US Prius Owner's Manual, section 5 "In Case of an Emergency," in the "If your vehicle will not start" section, pages
166-169 (which includes pretty diagrams on how to jumpstart/boost your Prius). 12v battery is in the trunk, left side under some carpeting.
The Prius' 12v accessory battery (like every other car has) is used to power the accessories (lights, fans, radio, alarm, etc.) and the computers. Unlike other cars' accessory batteries, though, it is not used to start the car (so it is physically smaller and therefore easier to drain), but it does start the computers. The computers open a relay that hooks up the 200+V hybrid traction battery, and it is really the hybrid traction battery that starts the gasoline engine (using an electric motor).
Since your 12v is probably original (showing its age), and it was left in a degraded state for a while (unused for a long time, allowed to discharge and sat that way), the 12v battery is probably going to give you trouble in the future (won't hold its charge when sitting unused for long periods of time). Many people like carrying around a booster pack (usually with a tire inflator or emergency flare light built in) for this occurance, or to help another stranded motorist without damaging their own vehicle. But, you may have to buy a new 12v battery in the future...