How do you change the oil on a 6cyl rav4?

It depends on the year but I have a 2009 with the 3.5L 6cyl and the filter is a cartrige type so make sure you get the right one. When you get the new filter, there are two O rings and a special insert for the oil canister to drain it.

If you do have the newer style, search the internet a bit more and you should find a blog on how to do it, with pictures!

Good luck.

PS: The 2009 V6 takes more than 5 quarts of oil!