The fuse is the ECU-B (Body ECU fuse). There is a whole chapter of the FSM on this:
SRS Warning Light Circuit Malfunction (Does not light up, when ignition switch is turned to ACC or ON)
This on-line 2002 looks identical to my paper '99 FSM, so it should work for you. The page references are live links; you should be able to click through.
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'99 4Runner SR5 5spd 3.4L V6 4WD(U.S), original '99 Talls in front, OME 906s in back, Hella fogs, Trekmaster shocks in front, Billy in back, no running boards, FIAMM horns, Alpine sound, Michelin LTX M/S2's, owned since new.
'97 HiLux SW4 5spd 4WD(Japan model bought in Brazil assembled in Argentina, very close to a 3.0 4Runner/Surf)
'71 FordWillys Jeep CJ5 (with straight six Ford Maverick 3.0 liter engine--lives in the mountains north of Sao Paulo Brazil)
My Backyard Frame Swap