For the driver's side, you'll need to remove your power steering fluid reservoir (gray cylinder with red cap). It just slides up off it's bracket, so just pull it up, and set it aside.
To get the harness and bulb out, squeeze the sides of the headlight harness, and slide it off the bulb. Remove the rubber boot from the headlight to gain access to the bulb.
Holding the bulb in is a wire tensioner clip. Just press down on the left side of the clip (on YOUR left if you're facing your car) you'll feel it push down. Press down and slide up, and it'll come unhooked. Then just replace the bulb and put everything back together.
On the passenger side, you just reach down past the airbox and do the same.