Procedure is roughly...remove the air box and charcoal canister. Remove the cruise control motor if equipped (leave the cables attached, just move it to the side). Unbolt the old fuel filter, bolt on the new fuel filter. Use new crush washers on the fuel supply hose. Torque the banjo bolt to 22 ft*lbf. Banjo bolt is 17mm, compression nut on the bottom is 14mm. You'll need a line wrench for that. Hold the filter so it doesn't spin (17mm nut welded on bottom of filter.) Careful not to twist the fuel line - it likes to twist and break off if it's rusty.
FYI Toyota considers the OEM fuel filter good for the life time of the car, and does not specify a replacement interval (At least not in the USA service schedule). Even name brand aftermarket filters aren't built to the same quality. I've cut both open to compare.