Hi @suresh8942
If your vehicle has ''halogen'' headlight bulbs, here's the [https://manuals.startmycar.com/published/Lexus-ES-350_2009_EN-US_US_083d13e88f.pdf|owner manual] for the vehicle.
Go to p.354→ to view the procedure to change the bulb.
The bulb model number, wattage and type is seen on p.431.
The manual doesn't describe how to change ''high discharge'' headlight bulbs, if that is what your vehicle has. It advises that you contact a dealer about getting it replaced.