Place pan under the rear end. Remove the Filler plug *First with a 24 mm Socket (arrow).

I did not jack the car up. I wanted to keep the car level.

*From reading the DSM boards it is recommended by many to take out the fill plug first.

The dotted arrow shows where the filler plug is.

Now using the same 24mm socket, remove the Drain Plug (small arrow at bottom).

Let the fluid drain for a good while.

Since I have a compressor, I blew air through it to push all of the residual oil out of the housing.

The local auto store had this funnel. I chose it because of the nice clear tube. The funnel has an On/Off twist valve, so you can fill the top part and then open it up for less mess.

Also, the end fits all of the fill holes in the drivetrain.

Once drained, put the drain plug back in. Careful not to tighten it too much or strip it. That would be bad.

Insert the end of the tube into the filler hole. Try to get the bottle up as high as possible. Squeeze the lube in.

Once it is full, it will begin to trickle out of the filler hole. Also, the clear tube helps you see it is full by backing up in the tube.

Put the filler plug back in, drive it and check for leaks. I drove for a while and then pulled the plug and checked the level after a few days.