The correct method to adjust the handbrake is first to park the car car on level solid ground and chock the front wheels, slightly slacken the rear wheel nuts slightly.
Jack up the rear end remove the rear wheels and release the hand brake, there is a rubber bung in the brake disc, remove this and with the hole at the bottom adjust (turn) the star wheel inside, (you may need a torch to see it) with a large flat bladed screw driver until you feel some slight resistance when rotating the disc, now do the other side. Normally this will be sufficient to take any excess free play from the handbrake lever remembering that ALL Avensis have a lot of normal movement in the lever. If you are not satisfied at this point then and only then should you adjust the cables under the lever but it won't normally be required.
I have attached a picture of the rear brakes for you, click on it to enlarge it.
EDIT Revband you just replied before me and I agree 100% but the info is there anyway ... CHEERS.