Toyota Repair: Oxygen Sensor on 1995 Avalon, toyota avalon, oxygen sensor

Question
1995 Toyota Avalon. Check engine light has come on......Trouble shooting code at Auto Zone is P0153 which, according to the diagnostic shop means that the O2 sensor 1 in bank 2 is bad (oxygen sensor 1). Where is that sensor? How hard is it to replace? Do I need to do anything to reset the onboard computer to turn off the "check engine" light after replacing the bad sensor?

Answer
Bank 2 sensor 1 is easy to get to, it is located in the exhaust manifold near the radiator, after replacing it try rmoving one of the battery terminals and wait ten seconds, reconnect it this may clear the trouble code, if not you will have to use the diagnostic tool to erase it.