The step-by-step process would take MUCH too long to describe here, and in most manuals is accompanied by illustrated diagrams or pictures. Your best bet is to buy, borrow, or rent a repair manual (Toyota/Chilton's/Haynes).
steps to change 140a 2004 toyota highlander
The 2004 Toyota Highlander has 16 valves.
The 2004 Toyota Highlander is a gas-powered vehicle.
The 2004 Toyota Highlander has a 4-speed automatic.
The 2004 Toyota Highlander has an inline 4 engine.
The 2004 Toyota Highlander is 15'5" long.
The 2004 Toyota Highlander has a 27 degrees angle of approach.
The 2004 Toyota Highlander has a 21 degrees angle of departure.
The 2004 Toyota Highlander has double overhead cam (DOHC).
The 2004 Toyota Highlander's turning circle is 37.4 ft..
The height of the 2004 Toyota Highlander is 5 ft. 6.1 in. (66.1 in.).
The 2004 Toyota Highlander runs on regular unleaded.