I haven't seen a write-up but it's not hard. Put the front wheels up, preferably on ramps. remove the engine undertray. Remove drain plug, it's located at the rear of the transmission case, can't miss it. It takes either a 17 or 19mm wrench, I don't remember which. While it is draining, remove the fill plug as indicated in the picture. The two plugs are identical. When it's empty, put the drain plug back in, nice and snug. If you are anal, get replacement washers from the dealer, but it really isn't necessary.
Install a funnel from the top of the engine bay into the fill hole. You need a funnel that has a long skinny tube that can be bent at 90 degrees. The other picture shows what I used.
The right way is to put the car down level and fill until it spills out the hole. It should take 2.7 quarts. I got lazy and left it up on the ramps and just dumped 2 plus most of a third quart. The level is not that critical and that was much easier and a lot less messy. Put the plug in, put the tray back on the bottom and you're almost done.
Recycle the old oil. Now you're done.