From personal experience, I can only recommend the you give these guys a call:
CAR SURGEON LIMITED
Fault code P2002 VSC Solution / DPF Regeneration / DPF Removal / DPF Rejuvenation
07853355415 Strictly by appointment only / collection & drop off service available
Big thank you to Frank & Kev for listing the details of the garage in Birmingham!!! I was quoted £2376 by Lexus and after wading through posts and various google searches I found this thread and let me tell you I got the DPF cleared and the VSC switched off for £299.00 which included EGR clean and additive in the tank plus collection and drop off of my car which was parked up 27 miles from the location of Car Surgeon Ltd. They gave me a discount voucher to use within the next year for an Oil and Filter Service for just £49.00 too. Many thanks Kev and Frank..... RESULT!!!