Jack up and properly support the vehicle. remove the wheel and two bolts securing the sliding part of the brake caliper to its caliper mount. ,remove the caliper mount bracket. Toyota brake discs usually have two taped holes 8mm by 1.25 threaded bolt screws into the threaded holes and pushes the brake disc off the wheel hub as you tighten both bolts. The wheel stud is then exposed tap it back with a hammer and draw the new wheel stud in using the wheel lug net and washers until the splines are fully pulled into the hub.