I want to drain fluid and replace with new fluid and anti-slip fluid called lucus oil.

If it's an automatic transmission, this link should help:

https://www.askmehelpdesk.com/cars-trucks/faq-how-troubleshoot-repair-maintain-hondas-selected-other-vehicles-46563-14.html#post2634481

I don't know anything about the Lucas oil product. I recommend Mobil 1 Synthetic Multi-Vehicle ATF, which meets Honda's Z-1 requirements.