How do you replace the headlight bulb on a 2002 Lexus ES300?

Access is very limited.
IF you can get your hand behind the housing, the retainer needs to be rotated and then the bulb can be removed. It may be necessary to remove the fender liner to gain sufficient access. DO NOT touch the glass on the new bulb. Skin oils can significantly shorten the bulb life.

Attachment 5904

I hope this helps.

Thank you CaptainRich. Your answer is very helpful but it was really hard to do so I just brought it to the service center. Luckily they did it for free since I already have the bulbs.