Easy. The MB club mag STAR had an article on how to do it. Nov-Dec 2002.
Drain torque converter. You will need to rotate it until the drain plug is visible. Rotate clockwise as viewed from front. Best way is from below using screw driver between bell housing and bumps on converter. 5mm allen for plug. Then drain pan. The remove pan with 13mm. let trans drip and clean pan well. Remove 3 screws holding filter and dodge the fluid coming out. Put in new filter. Seat pan gasket so the rubber tabs fit over the pan. Put the bolts back in and tighten to 6 ft lbs. Drain plugs are 10 ft lbs. Fill with 4 qts to start. Start engine and with foot on brake shift through the gears slowly. Shut off engine and add a little more. Stop when you get to the bottom mark. Run the engine and check when fully warm-do not overfill- 1/2 way in betweeen marks is ok. If you got more ATF in the trans than you did on your head or shirt, you have done well.
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