Check your owner's manual. The Iridium tipped plugs used in most late model engines don't need changing for 100 thousand miles. That's a good thing since (on the V-6 anyway) the rear plugs are a little tough to reach.
If yours is the V-6 here's something to consider. The cam drive belt is scheduled for a change at 90 thousand miles. Since so many items are removed for that service anyway it makes sense to change the plugs and water pump at that point.
Cheers
every 200,000 miles
100-120K miles.
Every 100K or when necessary.
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Change the plugs and wires at 100,000 miles unless you experience poor performance or a drop in MPG. In that case change them sooner.
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Remove the old plugs, install new plugs.
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www.solaraguy.com Try to use Toyota speaker adapter plugs so you don't need to cut wires and mess the electric system up. You can get them from Ebay or Amazon.