Starter no contact

check for a faulty starter relay but I suspect that the problem is in the ignition switch where the contacts inside the switch are not making contact
if the ignition is on and the starter is cranking the engine and the run contacts are making contact it will fire and run
check harness connections under the dash

Most likely the starter, a common problem on these, before replacing it make sure the battery is good and all connections are clean and tight. The starter contacts, actually solenoid contacts, are usually the cause, the contact parts are available at most toyota dealers but a lot have stopped selling them, replacing the contacts requires removing the solenoid and taking it apart which may cost about the same as a rebuilt starter after the labor cost involved.

Definitely a starting system problem. That sound you hear in the back is the fuel pump.

Starting system circuit components (besides wiring harness)
1. Ignition Key Switch - closes the starter relay control circuit to energize the relay and close the contacts inside the relay (you can check this by locating the relay in the underhood fuse/relay box and have a friend turn the key while you listen/feel if the relay 'clicks'
2. Starter Relay or its Contacts
3. Starter Solenoid - pushes/pulls the starter gear into the engine's flywheel ring-gear and its contacts close to provide battery power to the starter itself.
4. Starter itself - poor brush contact with the armature's commutator will prevent the starter to spin/turn

If you are 'Electrically' talented, you can check to see if you're getting battery power to the starter solenoid by using a simple 12 volt test light/bulb. Connect one lead to the starter solenoid terminal and the other to chassis/engine ground and have a buddy turn the ignition key - if the light turns 'ON', then you know that particular circuit is OK but the starter solenoid is not energizing to push the starter gear into the flywheel ring-gear to turn the engine over. If it doesn't, the problem is elsewhere (wiring, starter relay, starter relay control circuit, etc).

You can have a qualified Hyundai Service Technician properly diagnose your vehicle. OR, you can Go to www.hmaservice.com and register your vehicle by VIN #.. you'll then have access to wiring diagrams, shop manuals, service bulletins, illustrations, etc.

Many Toyotas have a problem with the large copper contacts in the starter solenoid.They get burnt and if they weld together, you'll have to take the battery cable off the battery to stop the starter.Pull the starter them remove and take apart the solenoid to find the contacts.Toyota does not sell solenoid contacts.Find a starter and alternator rebuilder in your area.I used to buy them for a buck a contact.

The starter solenoid is failing. Sooner or later the starter will probably not disengage after you turn the key off. Then you'll have to disconnect the battery in a hurry. It's no fun. And at that point the whole starter will probably have to be replaced. Depending on how long it takes you to unhook the battery. Trust me. That is no way to start your day. It's really bad for your blood pressure. Good Luck.

check cables to battery.if battery is 5years or older replace.
a bad ground cable and a weak battery will cause the starter to do as stated.

Methinks taht you have a bad starter. When you turn the key to "start", and you hear one click, that is def indicative of bad starter contacts, or the contacts are not coming together correctly. When you keep cycling the key, the contact plunger eventually moves, and then it will hit a "good spot" on the contacts, and then crankk. Aftermarket starters are notorious for this. Get a Toyota starter & install it, or take the starter to someone, and have them replace the contacts. This will def cure your issue. I do about 3-4 starters with this complaint a week here.

This is caused by the contacts being burned in the starter solenoid, just the solenoid contacts can be replaced, you have to pull the starter to do this, the new contacts are available from Ohiomotor.com

Your starter contacts are bad. You have 2 options: Replace the starter assembly, or remove the starter & replace the internal solenoid contacts & the solenoid plunger. This is a common problem with Toyota starters; I replace contacts 3-4 times a week.

Does the starter make one click when you turn the key to the start position? If so, your starter solenoid contacts are worn/burnt. You can either replace the starter (expensive), or remove the starter & have the contacts replaced (inexpensive); Starter contact replacements are a common repair item.