Yes.N4TECguy said:
You unbolt the tranny pan and you'll see the filter bolted to the tranny.
Changing the fluid is easy. You just unscrew the drain plug, let it drain, reinstall drain plug, and fill it back up through the dipstick.
The above method (drain & fill) only drains out a few quarts though. You'll still have fluid left in the torque converter.
Your other option is to have it flushed. This method pumps in new fluid while the old fluid is pumped out. It replaces all the fluid (tranny & torque converter) with new fluid.
You also might want to do a drain and fill on the differential.
And yes changing the fluid is necessary. I believe the dealership suggests every 30,000 miles.