The front one is easy, right on the exhaust manifold.
The second one is tougher. It's behind the catalytic converter right in the middle of the car. Drive it up on ramps or jackstands to get as much room and leverage as you can. Use penetrating oil if rusted. Use or rent a O2 socket if necessary. I just used wrenches and a locking wrench/pliers. Might need to hammer the wrench a bit if it's severely rusted. When you get the sensor removed, go to the back seat, below the drivers seat pull up the carpet by the vent. You'll find the electrical connector. Disconnect and pull through. Install new O2 with dab of anti-seize. Borrow a Haynes from the local library if you want diagrams of the connectors, etc. or more info.
I used a universal O2 and didn't notice a drop in MPG or performance. Others may tell you OEM. Good luck.