Once you have the contact and bolt removed from the starter, you should have the following pieces pulled out in the below order:
Here's the difference between my old (on the left) and new (on the right) contact! I only replaced the one as the other looked fine.
Putting it back together took me about 1/4th of the time, but it's basically the exact opposite process as above. Once done, you're all set! I did the above just like I explained it and now have a 4Runner that starts up right away!
Thanks for taking the time to read my step-through! It's my first I've done when it comes to vehicles, so please let me know how I did and what I could do to make it better! Also, I apologize for any fuzzy pictures too.
Another great resource that I found other than these forums was at the following website:
HaveBlue's 3.4 V6 Starter Replacement
Have fun!