How do I change my transmission fluid and filter on 2008 Lexus GS350

I have 100,600 miles on my 08 Lexus GS350 Ive never had a maintenance on my vehicle I just did a tune up and oil change but I want to change the fluid and filter in transmission can it be done by some one with very little mechanical experience and if so how is it done.???

Asked by for the 2008 Lexus GS350
the pan has to be dropped to gain acess to the filter. you replace the filter and pan gasket and add around 6 qts of fluid.
the better thing to do is have it flushed with a filter. then you get the fluid out of the converter as well. it runs around 119.

the simple nswer is yes but a flush is better