Well, I just did this yesterday along with my mechanic.
I live in a Townhouse with no garage so have absolutely no place at all to do anything more than checking my oil.
Fortunately I know a good mechanic that lets me help him.
Take the drain plug out obviously, drain it when very warm.
Need to unbolt the fill tube which is in 2 pieces, then take out about 20 or so bolts, think they are M6 and need to be torqued back at 65in-lbs I believe so pretty lightly.
Will need to undo your sway bar to move it out of the way of the trans pan.
Check your screen, IF it needs it take it off and clean it with brake clean.
If the screen needs to be cleaned you "may" have problems on the way. Mine was spotless, looked like new.
Check your pan, see what you got on the magnets (hopefully nothing).
Drain out your external cooler if you have one.
Drain your torque converter.
To actually "Flush" most everything out you need to put everything back together. You will the RED seal packing RTV from Toyota or some Permatex Right Stuff.Fill the trasmission back up to full, take off one of the lines leading to the radiator and have something like a gallon milk jug available.
Have one person turn the car over and ATF will fly out of the line into the jug from the Torque converter, only do about 1 quart at a time then shut it off and replace a quart.
Do this probably about 6-8 times I think until you can see new fluid mixed in with the old which can be hard to notice if your old fluid is in good shape like mine was.
There is probably half of the ATF in the Torque converter.
Personally I use nothing but Amsoil ATF, best you can get and works wonders. Redine D4 is also very good. If you use standard ATF make sure it is the right one, what ever Dextron III compatible ATF that floats your boat.
You will need around 14-15 quarts.
Run it through all the gears a couple of times and check your fluid level for the "cold" level.
Takes quite a bit, like running it on the hwy for 30 minutes to get it "hot" especially with synthetic fluid.
I may have missed a couple of things here, I was just helping so might have missed something along the way, wasn't difficult just time consuming.