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The same OBD II reader that gave you the Oxygen Sensor code can be used to clear that code. Repair the sensor first (or the light will just come back on) then plug in the reader and press the "clear code" button. You'll be good to go.
If you don't have a reader and someone else found the fault code for you, just roll by any auto supply store that offers free use of a reader (most major outlets). Plug it in and clear the code.
Cheers
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