I've already replaced a few tail light bulbs, it's pretty easy. On the outside facing part of the light, if you look to the inside, around the seal for the trunk, you will notice two covers. Pop them both off on each tail light assembly and remove the bolts. Then you just need a 10mm wrench to get the nuts off, there is one included in the cars tool kit. Once you get them started, you can turn them by hand to get them off, using the wrench the whole way would be silly. Once you have those two nuts and the other two bolts removed, pull the whole light back and off, but be careful, the electrical wires don't have a lot of slack to them.
I would recommend just taking the tools with you and going to Napa or whatever and just changing them in the parking lot, shouldn't take more than 5 minutes or so. Now I can't remember exactly what the bulb numbers are, so you should take out the ones you need replaced and take them in with you so you can get the right ones. I can post pictures later when I get home if you need them, but it really is quite simple.
I do not know how to change the low beam headlight though, hopefully someone else can explain that.