The first-generation Harrier (codename SXU10 and MCU10 for the front-wheel drive models, and SXU15 and MCU15 for the four-wheel drive models) made its debut in December 1997. Two engine sizes are available, the 2.2 L 5S-FE inline-4 which produced 139 hp JIS (102 kW) and 191 Nm (140 ft·lbf), and the 3.0 L 1MZ-FE V6 which produced 219 hp JIS (161 kW) and 304 Nm (224 ft·lbf). Both engines can be specified with either front or four-wheel drive. All models come with automatic gearbox as standard, with the V6 version having the Sportmatic +/- feature. The Harrier was a sales success, and many went to other right-hand drive markets in Asia as grey imports.
   The Lexus version of the Harrier, the RX 300, made it's debut in America in 1998. The only engine and drivetrain combination available was the 3.0 L 1MZ-FE V6 and four-wheel drive.
   The first-generation Harrier continued largely unchanged until November 2000, when the 2.2 L 5S-FE engine was replaced by the 2.4 L 2AZ-FE 4-cylinder engine, producing 159 hp JIS (117 kW) and 221 Nm (163 ft·lbf). Again, the new engine is offered with either front-wheel drive or four wheel drive. The change in engine also meant a change in model code, which is now ACU10 for the front-wheel drive version and ACU15 for the four-wheel drive version. A small facelift was also performed on the Harrier. 2000 is also the year where the Lexus RX300 first went on sale in Europe and Asia. The distinguishing feature for those RX300 is a different rear light cluster and larger wheelrims. The front-wheel drive version is not offered in either Europe or Asia.