Buy the new sensor and it comes with instructions. The tricky part is finding it. On a forester its located on the up pipe manifold. Since that's a boxer engine, the mainfold is low, you have to get under the car. A bosch O2 sensor has a nice detail set of instructions for replacement.
Location varies with model of Subaru, but most are installed just upstream (towards the engine) from the catalytic converter located under the right hand drive shaft. Mike is correct-- you must get under the car to replace. Make sure you follow safety and use a good set of car ramps on level solid ground to raise the car, or use jack stands. Best to work on a cool engine/car. Unplug the wire leading from the O2 sensor, then unscrew the sensor to remove. The old one may be stuck quite well, but it unscrews like a spark plug. When installing the new one, avoid getting dirt, grease (or anti-sieze) on the sensing tip of the new unit, and just screw back in. It will turn easily for a few turns, then turn harder for about 1/2 turn, then it just stops turning. You have compressed the sealing washer correctly. Remove your wrench, plug the new sensor back in, and lower the car. Do not be surprised if the computer is a bit confused for the first 20 minutes of driving-- it will be re-learning the correct new oxygen sensor.
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