If it's the same as my '99(and I'm guessing it probably is) here are pretty simple instructions. Raise up the front end of the vehicle and put it on jackstands. Remove the plastic engine shield thing that is underneath the car on the driver's side. The fill plug should be facing the front of the vehicle on the driver's side. Make sure that you can get it loose before you empty the tranny. After you get it loose, tighten it back up a little and then find the drain plug. It should be on the drivers side facing the tire(mine was almost directly across from the control arm). Loosen it slowly and have your drain pan ready. The fluid can come out quite quickly so be ready. After most of it comes out, leave the drain pan below the tranny and check out everything else under there just to make sure it is in good working order. I found that my ball joints were cracked and that my CV joints were just starting to crack(granted I have 140K mi. on my car). Put the drain plug back in and tighten it up(there isn't a specific torque rating). Unscrew the fill plug and clean it and the fill hole really good with some shop rags(should do that to the drain plug as well). I used funnel and about a foot and a half of clear tubing to get the fluid in the tranny(attach the tubing to the bottom of the funnel). Pour it in until it starts to come out the fill hole(the first two should go in fine, the third one you will use a little over half). As soon as it starts to come out put the fill plug back in and tighten it down. Put the engine splash shield thing back on and lower the car. Drive it around a bit through all the gears and get the temps up in the tranny. Check to make sure you don't have any leaks and you are good to go.
The reason that I suggest to not remove the fill plug is because when you remove it the tranny fluid basically all comes out at once, whereas leaving it in it come out a little slower and easier to manage. You only have to do that once to remember not to do it again.
Let me know if you have any more questions.