To activate this feature, reach for your driver’s side door handle. There should be a sensor on the inside of the handle. When the car recognizes your fingerprint, it will unlock the door for you.
That said, you will have had to program this feature in advance. If you haven’t, reach out to a locksmith for help getting back into your vehicle. Locksmiths offer same-day emergency services to get you back into your locked vehicle and even get a replacement car key.
You could also try reaching out to your Toyota dealership or service center to get an extra key.