Gear Box Oil Change

Hi:

Does anyone know the details of changing the gear box oil in a 2001 SL2? Is
there a drain plug or do you need a pump? What goes in? I have heard -
just regular automatic trans fluid. Opinions? Also how do you fill -
through the drain site?

I'm at 110,000 Km, and the service manual calls for a change so I want to do
it soon. Also anyone had this done at the dealer, and if so what was the
cost?

Thanks,

Glomis