How do you reset the check engine light on a 2002 Toyota Highlander 2wd 30L 6cyl?

You should be able to un-hook the battery and then hook it back up and the check engine light should automatically go off.

Another option is to Remove the fuse labeled GFI for about 30 seconds. So, if you don't want to mess with the battery terminals, you can just easily remove this fuse for 30 seconds and pop it back in. Problem solved.

You further won't have to re-set everything electronic (Clock, etc.) as you would if you disconnect the battery.