Thanks for the links, I'll try this information out to clear my check engine light with the same code too.Here are some links that should get you on your way. I would go with OEM Denso sensor by the way, aparently they cause the least amout of trouble.
Im sure you could find much on this web site as well, but these are just some quick links i had from when i did mine. Really watch out for those nuts though it could be rough. When I did mine the nuts where literally rusted away to nothing, just enough to make it a pain in the ass to come off, also the nuts are a very uncommon tread can be hard to find. Good luck.