Not sure if your problem is the same as mine, but this was happening to me (especially in cold weather) and the little vinyl/plastic rollers in the tracks of the scissor-like mechanism that operates the window eventually deleted themselves and my window glass fell into the door. Not fun.
Ultimately the problem was that the glass runs had become old and brittle, causing the glass to go slightly askew in the tracks. Over time, this stressed the lift mechanism to the point of failure.
If your window glass is still stuck in the door and you need to help it up now (it's winter, after all), you can take the trim off the door panel by gently popping the plastic "plugs" out of the door metal. Be careful, the plugs love to break and the trim is essentially cardboard-backed and tears easily. After that, carefully remove the plastic weather sheeting. Now you'll be able to see the glass and lift mechanism. You can hit the switch with one hand and gently help the lift mechanism/glass up with the other hand. This is a good opportunity to check the state of the components and their level of lubrication or lack thereof.
I replaced the following and the window operates SO MUCH smoother:
-Power Window Regulator 69802-60010
-Power Window Lift Channel 69902-60010
-Power Window Glass Run 68151-60010
These are cosmetic, but mine were cracked:
-Door Handle Bezel 69278-60010-03
-Door Trim 67492-60020
I generally use Ourisman (formerly McGeorge) Toyota Parts Online. Usually the prices aren't insane, and I think they're running a big sale right now.