You won't need a lift, but it'll be kind of a tight fit.

The sensor is located on the exhaust piping underneath the passenger's seat. I found mine by first finding the wires: slide pass. seat all the way back and remove carpeting from footwell and pull up on the carpeting on the driveline tunnel; you'll see the wires going through a grommet in the tunnel). I just followed the wires. You'll need to unplug the wires and remove the grommet.

You'll have to pull a metal shield off the current sensor before using your wrench to unscrew it. Get a breaker bar for your wrench!

Don't forget to put the anti-seize compound on the threads of the new sensor before installing it; the compound should have come w/ the new sensor.