Reply Fuel Problem Maybe

I have a 2000 lexus es 300 and the car would not start unless you gave it gas by the pedal a couple months ago a nd I changed the fuel filter and it started, bur a couple of weeks later it did the same thing. I tried this time of giving it gas again then it ran alright until now. Its doing the same thing except I can drive it by keeping the gas idled up and mashing the brake once you start driving it runs find but it would idle