There are many helpful DIY instructions on transmission services on this forum, I have used them when I first did my ATF drain and fill. But no photo guide-through, especially for tranny pan and filter change. At 68355 miles, it is time to do a triple bypass on my 6 year old RX300, took some pictures along the way.
The whole procedure is not hard, just needs a lot of patience. If you don't have patience, tackle easier tasks such as ATF drain and fill first.
This thread is for tranny service procedure, please feel free to post if you find an error or find a better way to accomplish the goal. Please no tranny oil debate, that is not what this thread is for.
Last, not that it is likely, I take no responsibility if you (or the transmission) are injured or killed by my DIY instructions.
Step 1, Get tools and parts
Required tools: 1/4" drive wrachet or 3/8" with adaptor, 1/4" drive 3 inch extention, 10mm socket (6 point preferred), 10mm Allen wrench, flat head screw driver, plier (one in RX300's tool bag), funnel, shop towel, latex gloves, an oil pan, and lots of newspaper.
Optional tools: mechanic's creeper, RX300 service manual

Required parts: Transmission pan gasket, oil strainer and filter. Optional: O Ring
I ordered them from Park Place Lexus in Plano, part numbers are

ATF: 4 quarts for Transmission drain and fill, 1 additional quart for Transfer Case fluid and filter change, 2 more to Transmission Cooler and parital Torque Convertor fluid change. I used 7 quarts of Amsoil rather than OEM T-IV for better flash point protection. Other T-IV complying fluid is Mobil ATF 3309, pick one of your choice.
With the car running, check the ATF level before draining old fluid out. If the ATF level is low, make sure you compensate that amount when you refill.