DIY R350 Transmission Service

[tgmiller77]

I am the new owner of a 2007 R350 with 66k miles. This is about my 5th Mercedes and I am still getting used to the "newer" ones. I have always done work on my cars myself so a transmission service is not a big deal. I have had 2 cars with the 722.6 transmission. I am a little surprised to see the there are very few owners actually tackling maintainance on the r-class. The vehicle is off-lease, and the previous owner did nothing in the way of maintanance except an oil change every 20K. The tranny needs to be serviced ASAP and the dealer wants about $450 for the fluid and filter change.
Has anyone out there done this on their own? I see that you fill the tranny thru the drain plug and fill it till it overflows, get it up to 40 C and check again. What kinds of pump do you need to fill the tranny. Is this a DIY or should I bite the bullet and go to the dealer. Any help would be great.
Greg