I have a 2002 Toyota Rav4 5-Speed, recently when I start it, the ignition just clicks, and I have to press gas pedal down then it will start. If I shut car off, it will restart with no problems, but if car has been sitting for a bit, the starting difficulty returns. Is this a battery problem? or starter?

Pressing down on the gas pedal is not doing anything if it just clicks when trying to start (coincidence maybe).If it makes a loud single "click" when trying to start-it needs a starter (built in solenoid).If it makes a series of fast clicks-test your battery (and check for excessive corossion on cable ends).