The Lexus GS was launched in Japan in 1991 and the United States in 1993. It was a mid-sized sports car that came as a four-door sedan. It was a rear wheel drive vehicle that had a 3.0 liter engine with six cylinders and 220 horsepower. The GS was equipped with airbags, anti-lock brakes, air conditioning that was CFC free and an internal temperature that was controlled automatically. The only change to the first generation model was made in 1996, when a five-speed automatic system was added and new lights were added to the rear of the vehicle.

In 1998, the second generation Lexus GS model made its debut. The new GS came in two versions - the GS 300 which derived its power from a six cylinder engine and a new GS 400 model which was powered by a V8 engine. The new model was shorter in length then the earlier version, but had side airbags that were attached to the seat. In 2000, a system that assists the driver in maintaining stability and applying the brakes properly was fitted on the vehicle. The next year the numbering of the GS 400 was changed to GS 430 and its power came from a 4.3 Liter V8 engine. In 2002, the car received a revised system with a dashboard DVD player.

The third generation GS models made their debut in 2007. The lineup includes the GS 350 that derives its power from a 3.5 Liter V6 engine with 303 Horsepower. The GS 350 that can be purchased with either rear wheel or all-wheel drive, and the GS 430 which has a 4.3 Liter V 8 engine. Both Lexus GS models have a six gear automatic system. All models are equipped with airbags and leather seats.