Variable Gear Ratio Steering (Makes it easier to turn when stationary or moving slow)
Not knowing your model or year, I can't investigate any further with what you have provided.
Looking in other forums, the most useful comment that I can see says that a guy had this same problem after installing a Sat TV system, somehow that process
fried the VGRS computer He called Lexus of Honolulu, who
informed him that the car was both safe and driveable in the current state. A local dealer fixed the problem for
him. The only effect of the light was that the steering did not become more
sensitive for parking maneuvers. the job discussed was fixed under warranty, It is not a cheap fix.
The Lexus LS has a recall on it for VGRS issues. You can read more at:http://lexusenthusiast.com/2010/05/19/lexus-ls-to-be-recalled-for-vgrs-issue/