Question edited for clarity, full 'year MAKE model'.
Question moved to Year Model category.
You can't! You have to fix the problem not find a way around it.
You have a Lexus not an 1981 Chrysler. I have an ES330. Your antitheft system is protecting your vehicle to stop precisely what you are trying to do, drive the car without the correct credentials. You have a transponder chip in the key, a receiver in the steering column, alarm sensors, the antitheft module, the Body Control Module, the Engine Control Module, and all the break-in sensors on hood, trunk, doors, and inside the vehicle all protecting you against theft.
You need an auto electrician, the dealership, or an auto locksmith / alarm installer with a pro grade scan tool computer to check the system and find out why it isn't working. If you lost all three keys, the dealership can make a key based on the VIN Number. Get one and then get the auto locksmith to make another and program both.
https://www.google.com/search?q=auto+electrician+near+me