I did it, replaced mine too after poking a hole in it. Just take a look at the toyota FSM, it's really easy.
It was really just a simple unscrew, take out old condenser, put in new condenser, and and rescrew back in.
I did replace the drier with a aftermarket one though as some people recommended that.
I did not replace any O-rings and I recharged the AC myself using one of those a vacuum pump with one of those manifold gauges.
Oh, and I would say I did this roughly 5 - 7 months ago and my AC works wonderfully.