I'm not sure your level of technicality.
But you need to remove your driver side door panel to access it. The hardest part should be removing the panels to reach the door internals. If you are not comfortable doing this, take it to the dealership. You can try taking it to Toyota dealership to save some bucks if they do that work.
There should be a DIY somewhere on removing your door panels. If I remember correctly, people who installed the led side-mirror on 2008 and earlier need to remove the door panel to connect the wires and power inside the door.