It would help to know if you have the I6 engine or the V8.
If it's the I6, it's very easy to do. The front o2 sensor is on the passenger side of the engine, very easy to get to and see. Simply unplug the wiring harness, get out your trusty o2 sensor socket and remove it. Mine was pretty easy to remove even around 50,000 miles.
Most new sensors come with a little anti-seize already on them. Just reinstalled the new one, plug it in and you are good to go. I disconnected the battery before starting this, just to be safe and to reset the computer. This is literally a 15 minute job.