2002 a4 3.0 quattro p0130 code
 

Help! I had a CEL last week and diagnostics showed p0130 - o2 sensor circuit malfunction (bank 1 sensor 1). I checked the voltage and it was putting out 0 volts. Probably why I have been running rich for a while and getting baf gas mileage. Anyway... hopefully replacing it will correct the problem. I have the new Bosch sensor, I just need help with how to do the swap. I hear it is the pre-cat sensor on the passenger side, which I also hear is a pain to do. Any advice on tools needed? How to get to the sensor? Is this a job for me and my buddy or should a dealer do it? Thanks for thr help.