changing trans fluid

Aloha, I have a 99 sportage 4dr 2x4 w/auto trans. approx 6o,000 miles. Besides the airbag light blink a code 16 or 61 and the bushing still missing from the front sway bar(i don't want to pay $30 each for a new bracket when only the rubber bushing is gone!) I have had no problems with the SUV.
I want to change the trans fluid. Anyone willing to tell me how or where I could get free info online on step by step instructions? The fluid is still pretty clean looking, but I don't want to wait till it breaks down befor I change it. and I don't think it needs to be flushed out either (rip off in my book) I also need to know if I should change the filter/gaskets etc.

Mahalo, Lance in beautiful sunny Hawaii

..May be you will like to read this:
http://www.4x4wire.com/forums/showflat.php?Cat=&Board=UBB70&Number=221789&Forum=f70&Words=transmission&Searchpage=0&Limit=75&Main=221789&Search=true&where=sub&Name=&daterange=1&newerval=2&newertype=y&olderval=&oldertype=&bodyprev=#Post221789

mmm.. I did not do it yet, mine is only 77000 km, but may be I'd do it the way it is described in that post, ...even if it looks a little bit overkill...

as long fluid smells good and it is translucent and drops from the dipstick on a clean sheet of paper do not let visible solid particles on the paper, I keep considering the fluid "good".

HELP!!
What type of transmission Oil should I use in a 1997 Kia Sportage??

LMP, thanx so much for the quick lesson on changing atf on my wifes '99 sportage.

Lance in sunny hawaii