Thanks for the question.
To answer your question, the ICP is located at the back of the engine under the turbo and is somewhat hard to get to. Snap On makes a great socket to get this off. You want to make sure the engine is cool. I usually go up from the bottom and some come from the top. I have long arms so I go from the bottom. Also, if there is oil in the connector, you want to use a electrical contact cleaner to get all of the oil out of the connector. Make sure you put all the shields back.