This is one of those jobs best done with a factory service manual or Chilton's manual at your side. They'll offer in depth step-by-step procedures along with pictures.
Here's the nuts and bolts version from Chiltons.
1. Remove bulbs from housing
2. Remove front bumper cover (it's a whole separate procedure but necessary to reach one of the bolts attaching the headlight housing)
3. Remove retaining bolts
4. Lift housing away from fender
You can find the Chilton's manual for Solara at some auto supply stores or at Amazon. The Toyota factory service manual is available for download from the Toyota website. You sign up for downloads and pay about ten dollars for 24 hours of access. In that time you can download literally every service manual for every Toyota on the road along with every service bulletin ever issued for them. It's a bargain.
Cheers
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