Alex RX300

Good day folks. This is my first post to this forum. I just acquired a 1999 Lexus RX 300 SUV and have a check engine light. I ran the code and will need to change the O2 upstream sensor. This is my error code and the solution below. Would someone please let me know the best way to replace that sensor and if any special tools are required. Thank you in advance and have a great day. Alex P1155 Air/Fuel Ratio Sensor Heater Circuit Malfunction (Bank 1 Sensor 1)