The starter motor is on the passenger side of the engine at oil pan level and where the engine and transmission meet.
I attached the directions specific to your vehicle below. However, here is a link as well that explains in general how it is done. Whatever you do, make sure the battery is disconnected before starting this procedure.
Repair Safety Notice: This information is for general instructional purposes only. Vehicle repair can be dangerous. Verify all information, follow manufacturer service procedures, use proper tools and safety equipment, and consult a qualified repair shop when needed.