Which one are you looking to change?
There are 2.
They are not the same and not interchangable. I would strongly recommend you find out which one needs to be replaced, as installing the wrong sensor will cause problems. And replacing the wrong sensor will get expensive. I can give you locations, and the procedure is the same for both, but like I say, find out for sure which one is faulty. One is located in the exhaust manifold under hood, the other in the exhaust pipe under the vehicle.
No. No special tools needed at all. It's actually a very easy DIY job! You'll have no probs!