The Harrier was launched in December 1997 as a vehicle combining the on-road performance of a luxury sedan with all-terrain-readiness and functionality of a sport utility vehicle (SUV). Its base model was the sixth-generation Camry (released in December 1996). The Harrier was marketed in North America as the Lexus RX luxury utility vehicle, and competed with the likes of Mercedes-Benz ML class and BMW X5.

The Harrier's platform was a reinforced version of the Camry's, which provided a ground clearance of 185 mm to withstand any off-road conditions that an urban SUV might encounter. Unlike a cross-country SUV, the Harrier's body was stylish and passenger-oriented, and the spacious cabin allowed walkthrough access between the front seats. Like the base model Camry, the Harrier's engine was transversely mounted, and the drivetrain configuration was either front-engine, front-wheel-drive or full-time 4-wheel-drive. The power unit was either a 2.2-liter 140 PS 4-cylinder "high-mecha" twin-cam engine with a balance shaft (replaced with a 2.4-liter 160 PS 2AZ-FE unit in November 2000) or a 3-liter 220 PS V6 DOHC 24-valve unit. The transmission was a 4-speed automatic with steermatic shift buttons on the wheel. A limited edition that sported spoilers and alloy wheels designed by Italian design firm SZ Design s.r.l. (formerly Zagato) was also made available as the Zagato Harrier.

Unlike regular SUVs, the Harrier and other quasi-SUVs had their origins in monocoque passenger vehicles, and for this reason they came to be referred to as crossover SUVs (CSUVs or CUVs).