I'm pretty sure it's in the regular owners manual.

You can do it by taking the bumper off, but if all you are doing is replacing the bulb, then I'd just use the fender liner method. Basically turn your wheel so you have some room, remove a couple plastic clips so you can pull the fender lining back, and go in from there. Twist counterclockwise a quarter turn and pull out the socket and bulb, then twist the bulb to release from the socket.