'99 ES300 Tail/Brake lights out - how to change

[Lexy99ES]

Hi there, I'm new to the Lexus forum but been driving an '99 ES300 for the past ten years with only 146K miles on it.  Was my Mama's car and I inherited it after she passed.  Still drives like a luxury vehicle with no issues and been taking very good care of it.  Noticed the tail/brake light dashboard indicator light popped on a few days ago while driving home in the rain.  I told my husband when I got home but when back out to turn the car/lights on, all the lights were on again and the indicator light did not pop on.  Okay...a few days pass and the indicator light popped on again so I left the car on for the hubby to look and a few tail parking lights were out as well as one brake light.  Tips on how to change without going to the dealer.  Been having a hard time locating a good step by step video or instructions.  Thanks in advance.