replacing tail bulb on 2002 Lexus SC430

Yellow indicator comes up requesting to change tail bulb. I need to know how to get access to replace the bulb in the trunk. Who knows how to do it? I guess it should be simple.

Asked by for the 2002 Lexus SC430
look for the carpeted panel in the corners, remove the panels, twist the desired bulb holder out, replace bulb in the holder, reverse procedure