Which Oxygen sensor?

Recently when my "service engine soon" light stayed on I took it to my mechanic. He checked the computer code and it advised that it was caused by the "Bank2 sensor2" O2 sensor. Can anyone tell me the exact location of this sensor on my 2001 Infiniti QX4. I would like to replace this myself. Also, will the light go off after it is changed and the car is run for awhile? Or does it have to be cleared?
Thanks for your help!!

Recently when my "service engine soon" light stayed on I took it to my mechanic. He checked the computer code and it advised that it was caused by the "Bank2 sensor2" O2 sensor. Can anyone tell me the exact location of this sensor on my 2001 Infiniti QX4. I would like to replace this myself. Also, will the light go off after it is changed and the car is run for awhile? Or does it have to be cleared?
Thanks for your help!!
There are 4 yep 4 o2 sensors on your Qx4 one on each exhaust manifold and and one close to each catalytic converter. I have had to repalace two so far .....67000 miles and both times the computer had to be reset

There are 4 yep 4 o2 sensors on your Qx4 one on each exhaust manifold and and one close to each catalytic converter. I have had to repalace two so far .....67000 miles and both times the computer had to be reset

I recently had this same problem. I drive an 01 QX4. How much should these sensors typically cost? Im taking this in to an Infiniti dealership and Im afraid of getting ripped off? Should I take this to an independent service station ???