my lexus 2002 model will not start

Sounds like low battery voltage,If the battery is 4 years old or older it's time for a replacement.

It might be the starter itself, just had to replace mine in my 99 with 160,000 miles...good luck. You can use jumper cable's, and if clearance is ok, jump current right to the starter, and that will tell you if it's good, or a battery, wiring problem.

Have you check the sensors!