Transmission not shifting properly

Hi, Troy,

Have you done the basic checks? Is the transmission fluid clean and full?

Here are the directions specific to your vehicle for checking it. Pic 1 correlates with these directions.

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2002 Lexus ES 300 V6-3.0L (1MZ-FE)
Fluid Level Check
Vehicle Maintenance Fluids Fluid - A/T Service and Repair Procedures Fluid Level Check
FLUID LEVEL CHECK
Check the Fluid Level

HINT:
- Drive the vehicle so that the engine and transaxle are at normal operating temperature.

Fluid temp: 158 - 176 °F (70 - 80 °C )

- Use the cool range on the dipstick as a rough reference when the fluid is replaced or the engine does not run.

(1)Park the vehicle on a level surface and set the parking brake.

(2)With the engine idling and the brake pedal depressed, shift the shift lever into all positions from P to L position and return it to the P position.

(3)Pull out the dipstick and wipe it off.

(4)Push the dipstick back fully into the pipe.

Pic 1

(5)Pull the dipstick out and check that the fluid level is in the HOT range.
If the level is at the low side, add new fluid.

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Next, if the check engine light is staying on while the engine is running, you really should have the computer scanned for diagnostic trouble codes. Most parts stores will do it free of charge. If you have this done, let me know the specific codes that are found.

Let me know.

Joe