Help please! Forgot to turn off lights inside the van, weak batt

After my Black Friday shopping last night, my lights inside the Sienna 04 van were on all night. This morning the battery was really weak. Any suggestions? The battery is Toyota battery, maybe a two or three years old. Can I turn it on tomorrow morning and let it run in the garage(with the garage door open) for some time or should I call AAA? Or do you think I need a new battery? Thanks a lot.