How can I replace a TCM on Audi A6 (2006)?

2006 AUDI A6
76,000 MILES
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SUMMER69
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the car will not come out of park, Scan code says to replace TCM. I dont know where it is. Can you please help me.
Nov 25, 2011 at 7:02 PM
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RASMATAZ
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Its under passenger's seat
Nov 25, 2011 at 9:53 PM