cv axles on a 97 lexus es300

hi....i have to change both axles on my 97 lexus es 300...but i have heard that the tranny has to be drained....and that theres a special tool to get the axle out...i wanna do it myself...but i dont have the tool and never drained my tranny before....is it that complicated? should i just take it to a shop and get it done there? can anyone give me a quick 101 on how to do it? thanks...i appreciate any help :)