First thing to do- Check the antifreeze level in both the overflow and the radiator. Top up as necessary with correct antifreeze type. If fluid is excessively low, get your vehicle to service shop to check for leaks.
same exact thing happened to mine. with the car engine ice cold check the antifreeze level. it WILL BE LOW! fill it to the cold level using ONLY TOYOTA GENUINE COOLANT! turn the car after is filled accordingly, drive it and voila problem fixed.