You would disconnect the oxygen sensor electrical connector from the oxygen sensor. Then using an oxygen sensor wrench or an oxygen sensor socket, you unscrew the oxygen sensor from the exhaust pipe. Then you screw the new one in and connect the connector.
With all that said..Which one are you talking about? Your vehicle is equipped with either 3 or 4 of them. (I can't tell you for sure because you forgot to mention WHICH V-6 engine and the YEAR of the Toyota Highlander that we are talking about.
Then there is the problem of what to do if the oxygen sensor is really stuck in the exhaust (which they USUALLY are) In this case you will need an oxy-aceteline torch to heat the exhaust until it glows cherry red before you will be able to unscrew the sensor. Then, when the sensor takes a chunk of the threads in the exhaust with it when it comes out, you will need a tap to chase the threads with before you will be able to screw the new sensor in.
This all brings me to this question? If you don't know how to change an oxygen sensor, how do you know that you even need one? I don't mean to be harsh here, but I am trying to save you time MONEY and aggravation!
Please also review these articles:
Which Oxygen Sensor Is It?
What Else Could Be Wrong?
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