So you say you don't hear the injectors, but i'm assuming you mean the fuel pump. You turn the key to "on" and you don't hear the pump prime? But yet you were able to bump-start it and drive it from your friend's house? That doesn't make sense (unless the pump was priming the fuel line that night, but has since stopped).
tweety2300's suggestion is good for getting the starter to spin the engine, but if you got no fuel flowing, you won't get ignition. Obviously cranking the engine would be a good way to find out, but I feel like just concentrating on cranking the motor is missing the real cause of the problem if you're not getting the other stuff to come one as well.
I have an 03 ES, and my stock alarm only goes off if I hit the button on the fob--not if someone breaks in or jostles the car or anything like that. Do you have an aftermarket alarm system? If so, we should probably start there.
If no aftermarket system, then when you put the key in the on position, do you see all "dummy lights" on the dash light up? Specifically, I want to know if the check-engine light is on, because that would indicate ECU readiness.
If the CEL is on, then please listen carefully when turning the key to the "on" position to determine if the ECU is sending 2(?)-second priming pulse to the fuel pump. If not, then the the problem could lie in the ECU, or in the Relay that the ECU trying to ground.
Have you checked your clutch switch? It won't even try to start if the clutch switch is open.