Cash, I read some of your other threads.....not that it's completely necessary or a prerequisite to changing your oil in the 4runner but have you ever changed oil before?
One thing I would strongly suggest is to try and loosen your oil filter before you do anything. DO NOT TAKE IT OFF just see if you can get it to turn slightly. The reason I say this is because if you drain all your oil out of the bottom oil drain and cant get your filter off then you're going to waste all your new oil.
You can access the oil filter assuming you have a 3.4l v6, through the driverside wheel well by moving a flap of which I can hopefully get you a pic in just a second.
So heres the steps
1). See if you can loosen the oil filter
2). remove the oil drain plug on the bottom of the oil pan (i believe its a 14mm)....get your drain pan ready underneath the truck with you because when you pull that plug out the oil is coming with it.
3). Pop your hood and open the oil fill cap and stick a rag in the hole so that it can still breathe but no trash can get inside your motor.
4). Now remove your oil filter completely
5). Take your new oil filter out. Dip your finger in the new oil and wipe some on the rubber o-ring on the new oil filter and screw it in place. Snug it up with your hand so its easy to remove next time.
6). Put your drain plug back in the oil pan
7). remove rag from fill location and add about 5 and a half quarts of oil in the fill location.
8). Put the fill cap back on and your done.