98 4runnner exhaust oxygen sensor

While accelerating my 98 4runner on the highway I heard a pop, from under the truck, then an intensified exhaust sound. Looking under the truck I can see what looks like the oxygen sensor popped out from the center of the exhaust and is dangling by the wires connected to it. In turn a hole, from where the sensor was inserted, is emitting exhaust causing the loud noise.
Is this as simple as plugging the sensor back in? Also, if a new sensor is needed is this an easy task or should i just bring it to the stealership. Any ideas how much this will run?

Thanks
t

You have to look at it closely and see why it came out. Is something broken or threads stripped? Or was it only held in place by one thread that gave way? Are the threads that hold it in place clean or are they totally useless and have to be tapped out? the answer to these questions will help you decide what to do.

Thanks Brian!! I will check the threads and go from there. I didn't realize that was how it was mounted.

The O2 sensor in my 99 4runner just went south and it was roughly 300 from the stealership to fix it.