While Alan's instruction's are pretty much correct, especially the beer part
. I would like to add a few more.
Putting the car on ramps or jack stands is definetly a must do,much easier to work under.
Take off the belly pan,you are going to make a big mess if you don't.
To avoid making more of a mess when removing the filter,I would suggest loosening the filter slightly,then with an awl or screwdriver,punch a small hole in the filter.
Then unscrew it a little to let air in, this will keep the oil from getting all over the ouside of the filter,and your hand.
After it is done draining, remove it,making sure the seal came of with it.
Wipe of the sealing surface and coat the new filter seal with oil.I always fill up the filter with oil,but it is not really necessary.
Screw filter on hand tight.
After filling,running and checking level,always check for leaks before putting the belly pan back on.
There is nothing else to lube. But it is a good time to check all of the other fluids also.