Oxygen Sensor

Ok guys found the problem. The car running fine but check engine light is on. Took the jag to get the code read and it came out as the top right oxygen sensor. For now causes not major threat but if you leave it alone it will foul your plugs plus an annoying check engine light. So my question is where is the top right oxygen sensor. They easy to replace but i want to know if this car is it reachable ang just plug and play.

Thanks