Sounds like one of the airbag sensors is bad or not making a good connection (same thing happens when you discharge an airbag - the lamp stays ON). If it is pre-OBDII (1995 and older in most cases) - you should be able to query the airbag diagnostics, if OBDII (1996+) should be able to put a scanner on it and find out what the deal is.I usually check http://www.troublecodes.net/Toyota/ for pre-OBDII procedures and http://www.obd-codes.com/ for the OBDII compliant DTCs.
Could it be that I did something when I took out the instrument cluster and changed the four bulbs?
I don't think I did anything to the airbag sensor at all.
It was working as normal, prior to me changing the bulbs.
I will check the manual and try to use the CEL code by jumpering the terminal connections on the diagnostic plug.
If it says the sensor is bad, is that on the airbag in the steering wheel, or at the unit in the center console?
It is on my wife's 1993 (OBD-I).