Take a look at your owner's manual, but for my 2009 ES 350, it was:
H7 Low Beam
9005 High Beam (HB3)
9006 Fog Light (HB4)
I bought them at Walmart in upstate NY. There is a video on the net which shows exactly how to go about changing all three types of bulbs. It was incredibly easy to do after watching the video. Look it up.