Here's how I changed the transmission fluid on my 2012 Hyundai Elantra Touring.
Tools I used:
Tarp - www.harborfreight.com/7-ft-4-...
Scraper - www.harborfreight.com/4-piece...
Boxes
Torque wrench
10mm and 17mm socket wrench
Pliers to remove hose clamp
Replacement Parts:
Replacement Filter BECK/ARNLEY 0440363 {#4632123000} - www.rockauto.com/en/catalog/h...
6.6 quarts transmission fluid
Amsoil - www.amsoil.com/shop/by-produc...
OR Hyundai OEM SPIII transmission fluid (never tried this, don't know how legit or good this is) - www.amazon.com/Genuine-Hyunda...
Torque Settings:
8 lb ft for gasket
30 lb ft for the drain plug
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Here's the general procedure that I followed from the service manual (minus the transmission filter change).
Replacement
If you have a fluid changer, use this changer to replace the fluid. If you do not have a fluid replace the fluid by the following procedure.
1. Disconnect the hose, which connects the transmission and the oil cooler (inside the radiator).
2. Start the engine and let the fluid drain out.
Running conditions : "N" range with engine idling
3. Remove the drain plug(A) from the bottom of the transmission case to drain the fluid.
When new, automatic transmission fluid should be red, The red dve is added so the assembly plant can identify it as transmission fluid and distinguish it from engine oil or antifreeze. The red dve, which is not an indicator of fluid quality, is not permanent. As the vehicle is driven the transmission fluid will begin to look darker. The color may eventually appear light brown.

The engine should be stopped within one minute after it is started. If the fluid has all drained out before then, the engine should be stopped at that point.
4. Install the drain plug via the gasket, and tighten it the specified torque.
Tightening torque :
40~50 Nm (4.0~5.0kgf.m, 28.9~36.2lb-ft)
5. Pour the new fluid in through the oil filler tube.
Stop pouring if the full volume of fluid cannot be poured in.
6. Repeat the procedure in step (2).
7. Pour the new fluid in through the oil filler tube.
8. Reconnect the hose, which was disconnected in step (1) above, and firmly replace the oil level gauge.
(In case of this "replace", this means after wiping off any dirt around the oil level gauge, insert it into the filler tube.)
9. Start the engine and run it at idle for 1~2 minutes.
10. Move the select lever through all positions, and then move it to the "N" or "P" position.
11. Drive the vehicle until the fluid temperature rises to the normal temperature (70~80°C(158~176°F)), and then check the fluid level again. The fluid level must be at the HOT mark.
12. Firmly insert the oil level gauge into the oil filler tube.