I drove my 97 Toyota 4Runner all day between several locations, starting and stopping it. I got home and it was parked in the garage for 2 hours. I went back out to leave... tried to start it and nothing. No noise... no sound. Lights come on and battery is charged. What is wrong?:D

. Remove and place battery on a charger, to ensure it's okay--I suspect the battery is very low. It may be strong enough to turn on the lights for a while, but not strong enough to run the starter motor.

. Check all under-dash and under-hood fuses with a test light or multimeter:

https://www.askmehelpdesk.com/cars-trucks/faq-how-troubleshoot-repair-maintain-hondas-46563-3.html#post252145

. Reading the link below should help:

https://www.askmehelpdesk.com/cars-trucks/faq-how-troubleshoot-repair-maintain-hondas-46563-3.html#post235560

. Check for codes.

. Check for spark.

. Check for fuel.

The battery may seem to have healthy charge but may still have a bad cell. Have it tested.
The problem is likely a faulty starter. Sometimes repeated attempts will eventually get it to start, but often will not.
It take very little to work the lights when compared to how much is needed to crank and start the engine.

This may help you.

https://www.askmehelpdesk.com/cars-trucks/1999-toyota-fourrunner-122727.html#post578649