A LUK clutch set runs about $130-150 and a Slave cyl runs about $25-30. You would be looking at about $180 if you have the right tools and can do it yourself. or about $350-500 for a shop to do it.
get a book! you have to drop the transmission which isn't a whole lot of fun then unbolt the old clutch assembly and install a new one
you have to have fan clutch wrenches
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You should not attempt to replace the clutch yourself unless you have considerable mechanical skills. In this case, the problem is most likely that the spring holding the clutch pedal in place is broken.
www.helminc.com You can find a shop manual for a lot of vehicles.
$1000 - $1500
Take it off
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The clutch fluid reservoir is by the Power Distribution Box in your engine compartment which is by the drivers side of the engine compartment ( use DOT 3 brake fluid in the hydraulic clutch )
you replace it take the old one off and replace it with a new one
http://toyotacelicas.com/forums/ or google "toyota + forum"
Parts,$300 and the book time for a 4x4 Rav is 12hrs as the engine/trans have to come out as a unit to replace the clutch.