Position the crank at 0 degrees and see where the cam pulley lines up. No need to remove the bottom cover, etc. Mark both belt and pulley to allow you to see where the belt/pulley was and where you need to move the pulley. Pry back the idler to release the tension and slide the belt off. Rotate the pulley either direction to get it back pulley realigned and reinstall belt, etc.
Sometimes when the tensioner is released the cam pulley will move resulting in the crank/cam pulley timing being off. At crank 0 degrees, see which way the pulley is off on timing, then compensate the next time when you install the belt. Most likely at worst you will be one tooth off, sometimes it takes a few tries to get it right.
Always rotate the crank two times CW and recheck.
There are a few previous threads at the end of this page on this subject.
If you get confused, the service manual link is below.
http://oregonstate.edu/~tongt/camry