Pretty simple procedure.

3.0:
In engine bay:
1. remove intake neck and unclip the top of the air filter housing. (to expose the oil filter cap, covered by intake neck)
2. unscrew oil filter cap.
3. replace oil filter; moisten replacement rubber o-rings.
Underneath:
4. remove the service opening on the reinforcement plate on the bottom of the car. (small plastic cover)
5. remove drain plug and drain oil. Tightening torque: 25 Nm

Oil capacity for 3.0:
6.5 liters
7.0 liters for engines with oil cooler

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