how to replace rear O2 sensor on 2003 xtracab?

I have a P0136 error code with a readout of bank 1 sensor 2 sensor malfunction. I learned that this is the rear O2 sensor. I found the sensor under my truck, but the wiring runs from the exhaust pipe into a rubber gromet in the floor under the passenger seat. I want to replace the sensor myself but do not know where I should look for the connector. Do I need to remove the passenger seat to find the connector?
Thanks,
Jim.

 

Thanks for sharing your know-how and thanks for the Welcome. I will order a sensor and give it a try.

 

Did changing just the rear 02 solve the problem? I have been told this code may also be a faulty cat....

 

did you order that sensor yet??? I'm also in NY and have a NIB sensor i can give you a deal on.

 

Will this help?

http://www.lieblweb.com/tacoma/Mechanical/O2Replacement/02Replacement.html

I replaced mine on my 96 w/ manual.