How do you turn-off the maint reqt light in a 2004 rav4?

Insert the key, but leave it in the off/lock position. Then, while holding down the odometer reset button (by the speedometer), turn the key to the "on" position. Keep holding it down until it resets. The odometer display should do a little count-down sequence. On some you have to start this on the "Trip-A" setting.