Assuming that this car has the V6 and I'm pretty sure it does, the filter is in a cannister at the front drivers side of the engine. You can get a special socket for about ten bucks at your dealer that will easily pull the top of the cannister. Once unthreaded, you pull the filter up and out on the a stem that is part of the cannister top that you unscrew with the tool.
Remove the filter after you have removed the belly pan, put a drain pan under it and then remove the drain plug. You can get a magnetic drain plug for these engines and I highly recommend it.
A trip to the dealer for the filter and filter socket will be worthwhile. You don't need the filter number, they will help you.