Got this from another thread:
On a 2000 LC/LX the speed and reverse wire are tapped at the ECU behind the glove box... Should be the same.
There are 5 connectors on the ECU, looking at ECU, from top to bottom
E5 / 31 pins
E6 / 24 pins
E7 / 17 pins
E8 / 28 pins
E9 / 22 pins
Speed wire is VIOLET E8-Pin 15
Reverse Wire is Red-Blue E8-Pin 2
You'll have to remove the glove box to get to the ECM.
Amplifier placement
Reviving an old thread to confirm that this information, along with the factory wiring diagram book, were accurate regarding the wiring. This info helped tremendously with making the install easier.
The reverse wire is E8 Pin 2, although on my 2000 LC it was Red-Black as far as I could tell. It may have been Red-Blue. The Violet speed sensor wire was in E8 Pin 15. I wired the reverse wire and speed sensor wire for the for the head unit to these wires.
I wired up a Kenwood DMX7706S with an optional backup camera. I grounded the parking brake wire to the head unit chassis itself, to override the "only in park" functionality. I wired the camera in line with the head unit when I connected to power and ground (i.e. I did not tap into the reverse light for power or ground, since I have already tapped reverse at the ECU).
I also had to repair the factory wiring harness for the factory amp and speaker wiring, a previous owner had hack jobbed the wiring to install an aftermarket system. I replaced the cheap aftermarket speakers he installed with some Rockford Fosgates. Crutchfield had a Toyota speaker bracket that dropped them right in the doors with the factory installation holes. They also provided a factory wiring hardness adapter that made installation with the factory wiring harness a breeze. I discovered one of the wires for the driver door speaker had been cut at some point, so I had to spend some time fishing a new wire through the door to replace it. I'm pretty impressed with the quality of sound I'm getting out of the factory amp and sub.
Will post pictures later.