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First off, I am NOT a mechanic and was learning as I was going here so I'm sure there are better methods for doing this but I had little luck finding solid information online - so I'm posting this in the hopes it will help others in a similar predicament.

I have a 2003 Toyota Highlander with 3.0L V6.

My "check engine" light was on and after plugging in a code reader discovered 2 codes:
P0155 - Code for Bank 2 sensor 1 oxygen sensor (front of engine going into exhaust manifold)
P0135 Code for Bank 1 Sensor 1 oxygen sensor (rear of engine going into exhaust manifold)

Both of these sensors are between the manifold & catalytic converter, and are therefore known as "upstream." They are identical part #'s - Denso #234-9009.

See attached .pdf for step-by-step instructions with photos.
 

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