The process: First you need the all the tools and parts:
Oil pan:
Car jack and stands:
Good socket set:
Shop towels:
Gloves:
This tool is a must for the oil change - it is a oil filter wrench that fits the Toyota/Lexus housing.
Recommended oil is 5W-30 for the Lexus oil change but I usually use 5W-20 across all our vehicles (YMMV). For my model year, the 2WD needs 6.6q and the AWD 6.8q. So I plan for 7 quarts on each oil change.
Next I usually get the Wix filters for my model year here:
Now that you have the tools and parts, the process is pretty easy...
1) Set the parking brake!
2) Jack each side placing the car jack on the frame and place the stands.
3) Locate and remove the filter cover (3 screws).
4) Locate the drain plug and using a 15mm socket take off the plug when the drain pan is in place. Allow all the oil to drain. Usually will drain better if the car has been warmed up and oil thinned out.
5) Next I remove the filter using the tool mentioned above:
6) Allow the filter to drain and replace:
7) Reinstall filter and tighten the housing with the tool. Put drain plug back in place. Wipe off all the excess oil around the areas.
8) Now time to refill:
Again, it is just under 7 quarts depending on your model.
9) Last step is to reset the oil change meter. To do this, when the car is off, keep holding down the trip meter and push the START button. Once it flashes, you are all set for the next change.
Note: I had this happen once where the VSC light came on after the oil change. If you remove the positive battery terminal, it will reset.
Good luck on your next oil change!