1) Warm up the car with a quick drive around the block. Turn off.
2) Drain old oil via the drain plug in the oil pan. Screw the drain plug back in.
3) Replace filter.
4) Dump in new oil via filler cap on the valve cover.
5) Turn on the car and allow the oil system to prime itself.
6) Turn off car, check the oil level and top off if needed.

Done.

That's the only way to do it, within reason.