If the light came on and stayed on and its kind of shapped like (...) then i think its the TPMS light. Tire pressure monitoring system. Check all the tires on your car ( including the spare) once you have checked all the tires and found the one that is low, find the small round black button under the steering column and while the car is running, push and hold the button untill the yellow light goes out.
http://whatisbyme.blogspot.in/2012/05/2007-toyota-highlander-hybrid-yellow.html
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This will help.
Thanks.
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