The filler and drain plugs should both be 24mm hex heads, the filler is on the front of the transmission case, the drain plug behind that and on the bottom. Just take both plugs out, drain it out, then put the drain plug back in, lower the car if you raised it to get at the drain. Then just fill it up through the filler hole until the oil starts coming back out, there's no dipstick or precise amount, just fill'er till it's full.
This reminds me I haven't changed mine in like 60,000 miles, I should probably do that...