how do I do a drive cycle on a 99 camry? to make it run emissions. on 1999 Toyota Camry

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I plugged scanner to car and it does not say ready. need to pass emissions for title.
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At the left side of this post is a list of catagories. To the bottom is a search window, put readiness monitor, or drive cycle in the search window and click GO. You will be directed to lots of information on the steps you take to do the drive cycle.
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