How do I reset the computer on 99 RX300

Hi, My check engine light is on and I think it may have been due to an extremely dirty air filter. Now that I have replaced the filter, I was wondering if there was a way to reset the computer to see if the light comes back on? I know in my old ford I could just disconnect the battery. Can you do that with the Lexus? I don't want to go pay a diagnostic fee if it was just the air filter. Thanks

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Archi1
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