Its easy enough to take your car to the dealership service center and pay them the $40 - $80 to do it.
Though, doing it yourself it would cost:
TYPE-T transmission oil (Toyota sells this at about $6 a quart)
$30 for trans oil
$10 for disposal fee
and about 2 hours of your time.
Toyota can have it done in 30 - 60 minutes while you wait. plus a free 21 point inspection.
It's not just your imagination...
Your day really does go by twice as fast while on EverythingCelica.com