Basically you just use a wrench to unscrew it, screw in the new one, and plug it in. You might need a special socket with a slot to let the wire out if a wrench won't fit. Don't touch the end or you will contaminate it. Hardest part is finding the sensor and getting a wrench to it. It should be somewhere downstream of the catalytic converter. A dealer or repair shop should be happy to do this for you. It should only take about 10 minutes unless it is buried and most of the cost will be the sensor itself (~$80).
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