If you've got really small hands with strong fingers you don't have to remove the bumper etc. I was able to get the bulb out but I couldn't for the life of me get it back in. Sooooo, Talwang has the instructions and it's really not that hard.
On a side note, Toyota said they would do it for about $30... Might try them.
2015 Lexus ES 300h Hybrid Matador red w/parchment
03 Absolute Red w/Cream SC430, 14K miles
2010 Matador Red MICA W/Parchment RX450h