A lot of times the copper contact points in the starter just get dirty/wore out. You can get the rebuild parts from toyota for like $20 and there is a very good how-to article on team-integra.net that I used to rebuild my starter a couple months ago.

http://www.team-integra.net/sections...ArticleID=1079

PS. My starter worked for over a year once I started having problems with it. I would just have to keep trying and eventually it would start.