If I understand what happened: you started the RAV--then tried to start it again while the engine was still running-- you heard a scratching sound--then got the trouble lights and warning message. I bet you have an LE that uses the ignition key. I know this because you have a gas model (from your gauges) and if you had an XLE or up with the push button start it would simply have turned off when you pushed the button a second time. When you turned the ignition key while the engine was running the noise you heard was the starting motor teeth scraping on the spinning flywheel teeth. This is no biggee as long as you don't make a habit of it-it would damage the starter and you sure don't want to replace a flywheel. I would imagine the trouble lights and message simply disappeared when you shut off and restarted the RAV. If they did NOT please reply here for assistance.