I dont know how to do that... best bet would be to take your car to the dealership service center and pay them the $39.00 to do it
if you did it yourself it would cost:
TYPE-T transmission oil (Only Toyota sells this, and its about $6 a quart)
...$30 for oil (Plus TAX)
...$10 for disposal fee
and about 2 hours of your time...
or you could pay toyota $40 and have it done in 30 minutes/while you wait. (plus a free 21 point inspection)
I hope this helps