Well, there is a hella cheap way, but it looks bad, doesn't really increase light output, and blinds other drivers. That is the way posted above.
If you want to do it the REAL way, and actually have true HID headlights, the way to go is by doing an HID retrofit from a different vehicle. This will give you actual HID lights with projector headlamps, instead of just giving you a blue bulb, or a cheap HID bulb that isn't correctly projected out in front of you. Typing a quick search into google yielded me this:
http://www.toyota-4runner.org/showth...&threadid=6564
Keep in mind that this will cost like $700.