I've now changed the oil for the second time on my 2009 Venza. I did the first change at 3100 miles, and this one was performed at 6300 miles.
I use the official Toyota Filter element, Mobil 1 5W30 oil, a 3/8 socket wrench, a large adjustable wrench, 1 piece of clear plastic tubing (1/2 Inner Diameter-from a home store @ $1usd/foot.), a filter wrench (I don't know the exact size...but it was for my 1997 Nissan Maxima 3.3L engine. Go to an auto store, find the filter for the Maxima, then find the filter wrench. It works exactly for the Toyota filter casing) and a few rags and paper towels.
I also jack the car up and use braces on the sides just in case. I've taken pictures to help anyone that might be thinking about doing their own oil changes. They are really easy, and not hard at all.
THIS IS FOR THE V6. I HAVE NO IDEA ON THE 4 CYLINDER.
Then jack up the car. There is some plastic fairing under the front of the car. Dead center about 1 foot back it ends. Right behind that is a metal frame piece, that is bent. This is where Toyota recommends you lift the car from. Sorry, this picture came out a bit blurry...it's the only one though.
After jacking up car, put supports on side of car.
Then find filter. It's on the passenger side.
Directly behind the filter casing is the oil pan. After changing the filter element, we will drain the pan, reset the plug and fill the car.
First step is to remove the center part of the assembly. The 3/8" socket end works nicely.
Unscrew it all the way, clean off with rag and set aside. DONT LOSE IT!
Then take the clear tubing and the prong piece that comes with the filter element and gasket. Push directly into the filter assembly.
Wait until oil stops dripping/running out. Takes about 10 minutes. When you take it out, kind of 'snap' it sideways and then pull it out. This will remove the gasket.
Then remove the actual assembly with the filter wrench.
Then remove element by pulling straight up gently.
Clean all with a rag. Also remove the larger gasket at this time. Then put new element into assembly. It's got a springy feel to it. Just use gentle pressure until seated.
Dunk new gasket into fresh oil.
Reseat on assembly.
Check out the car side, clean off any oil that has dripped down before reassembly.
I put the assembly back together w/out the filter wrench. It's hand tighten just like a normal filter. Just make sure not to mar the aluminum or it will leak. Take your time.
Put oil on small gasket, then put back on assembly at this time.
Put cap back onto assembly, again taking care not to mar the housing.
Take plug out of oil pan, and wait. Takes about 15 minutes for oil to stop coming out. It's like a river at first, so make sure pan is in proper location.
Replace plug. Add 6.4 quarts of oil.
After finishing, I realized that I hadn't taken pictures of the actual adding of oil to the car. I'm sure anyone that has decided to do this job will be competent enough to put the oil in!
Thanks and good luck!