does anyone know how to replace the Lambda sensor?

[MingBluS3]

has anyone changed the Up Stream Lambda sensor on their S3? I need to know roughly how to do this, first off where abouts is it?

any help would be very much appreciated.

 

[Khufu]

probably lots of heat! I guess it will be on the downpipe, not sure how much space there is on the turbo version.