What is the repair when the VCS indicator is lit for a 2002 Lexus RX300?

This is usually illuminated when there is a fault with the Vehicle Control System. It could be several things or just a fluke. One of the abs sensors on one of the wheels could be faulty, damaged or misaligned. A good scan tool might help, but usually a scan tool with manufuacturer specific code reading ability is needed to diagnose the ABS system. You will almost have to take it to a dealer to find out this cause. You could try disconnecting the battery for a few minutes, but I doubt that this would help. I have heard of people doing this and it working so go figure. I hope this helps you. Good luck.