Auto Trans Fluid change on 2007 Hyundai Elantra

My Owner's Manual insists on changing the Automatic Transmission fluid at 30,000 miles. How is this done on this vehicle? Is a filter change involved also?

Yes have a shop change the fluid and filter and keep the receipt for your records and you can check prices here and locate a shop here
I want to do it myself not bring it into a shop.
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i do not know that is why i am looking for answers.