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I had the same problem. Took it to Jiffy Lube they couldn't and finally had to take it to Toyota Dealer and got it done.

In the trunk of the car are two compartments directly behind where the taillights are. Open the one behind the taillight that is out. Then pop off the protective black cover on the side of the compartment. The three bulbs (Tail/Brake, Reverse, Turn signal) are in three sockets that are removed by rotating them to the left (righty tighty, lefty loosey) and then pulling them back toward the fron of the car. The bulbs pull out of the socket, no twisting, pushing, or tools required.

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Q: How do you change a brake light in a 2002 Toyota rav 4?
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