I'm not exactly sure what you mean by "bolt" at the oil filter housing...
to remove the canister (cylinder that houses the oil filter), you will need a special tool like this one:
The OEM part number purchased from Lexus stealership is : 09228-06501
There is an aftermarket cheaper version made by Assenmacher : TOY-640 (http://www.toolsource.com/toyota-filter-wr...m-p-100298.html)
Follow bart's post and you should see what it will look like when removed.
As for draining the oil drain plug (which is a bolt), you will just need a 15mm (or 14mm?) socket wrench to remove the bolt. If it is extra tight, it may have been over-torqued, in which case you will just need to lengthen your socket wrench handle to give yourself more torque to untighten the bolt.