Toyota will replace seat belts in both front seats, which can become jammed inside the holding due to a faulty part, it said.
The affected cars are Lexus GS and IS sedans.
No accidents have been reported due to the defect, it said.
Toyota, close to overtaking General Motors Corp. (GM) as the world's No.1 seller of automobiles, has sold 15,000 Lexus GS and IS in Japan since it ushered in the 16-year-old Lexus brand to its home market in August 2005 in what it said is a major step toward taking on top luxury marques everywhere else.
It did not disclose estimated recall costs.