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B2S1 is located on the passenger side exhaust pipe before the converter(See Below). The easiest way to access it is to raise front of vehicle and remove from underneath. You will want to use an O2 sensor socket(available at all parts stores). it has a special groove in it for the wiring pigtail.
O2 sensor socket:
Yes, just follow the lead to disconnect, its not that long of a pigtail. You will need to clear the code with a scanner. Should be able to run it by an Autozone or Advanced Auto Parts to have them clear it for free