how to replace the #2 oxygen sensor

Seems easy enough except for clearing the computer code. I do not have any automotive equipent. Do I need to go to the Toyota dealer (or some other garage that has a computer which can be connected?

Disconnecting the battery for only a minute will clear any error codes and the check engine light. If there is still a problem, the check engine light will turn on again the next time you drive the truck. I typically get the check engine due to the gas cap. This time it was the #1 Bank 1 sensor or the one near the engine manifold. I may have to buy a special tool to take that on off.