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?

Asked by for the 2007 Hyundai Elantra
Yes have a shop change the fluid and filter and keep the receipt for your records and you can check prices here http://repairpal.com/estimator?car_type_id=5204 and locate a shop here http://repairpal.com/directory?address=10465&car_brand_names=Hyundai
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.