Step 1

Jack or ramp the car to access the underside of the bumper. Start with the driver's side bulb. This is the easier side. There's a small access panel made of black plastic under the light. Remove the access panel.

The passenger side is a pain. There's no access panel. Remove the 10mm bolts and push tabs connecting the bottom plastic splash gaurd. Pry (with your fingers) the plash gaurd from the bumper to access the 10mm bolt for the lamp housing.

 
Step 2

Pop out the black insert. This gives you a little light inside.
Step 3

Through the bottom access panel remove the 10mm bolt with an open end wrench. Then rotate the light

The bolt side has one plastic tab. The other side has two longer tabs. Rotate the bolt side, then gently pull toward the inside as you rotate.
Step 4

Continue to rotate the light inside of the bumper
Step 5

Disconnect the power tab and the harness on the bulb. Then, remove the bulb (push and twist). Finally, replace the bulb and reassemble.
Wrap up

If you are a novice, plan on 2 hours. The Toyota designers did not consider ease of replacement when they designed this light.

The manual contains a misprint on the bulb. The correct bulb is a 9006 (NOT a 9004). The OEM bulb is a Sylvania.

Check out Competition Limited for high wattage replacement bulbs. Try the all-weather yellow. The yellow gives the fog lamps more of a Euro look.