Transmission fluid
First, refer to the dip stick top or the vehicle manual to identify which type of fluid to add to your transmission.
I presume you are referring to the more popular automatic transmission for many markets.
Run the vehicle until it is warm.
Remove the gearbox oil dipstick.
Jack the vehicle up a little if it helps, as you will need a drain tray and tool. Creep under the vehicle and remove the gearbox oil drain bung. It's usually at the lowest point, in the gearbox oil pan.
Drain the oil until you have almost no drips.
If you don't wish to replace the gearbox oil filter at this point, then procede to tighten the drain bung back into the oil pan/sump using a fresh washer if needed. Once tight (don't go mad as these can strip easily) you can procede to add your new oil.
You will likely need a very thin funnel to fit into the dipstick tube as this is where the oil is added on almost all Japanese models at least. If you can't find out how much oil to add to your vehicle, then add as much as you dropped out at first, or perhaps a little less as your fresh oil is cold as opposed to the expanded, warmer oil which came out.
Once added, start the vehicle, and go through the gears with your foot on the brake.
With the engine running and in Park, check the gearbox oil level.
You can often get false readings on the dipstick until all the oil you added to the dipstick tube has run into the gearbox, so you might want to check this after half an hour or so.
Run the vehicle, do a road-test, and then return and recheck for any oil leak at the drain bung and the oil level once again.
Gearboxes are very sensitive to having incorrect oil levels, so try to keep it as accurate as possible.
Good luck!
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