The drain is on the very bottom of the tranny and it's a 23mm plug. The fill hole is above that, sloped at a downward angle. Simply remove the plug on the bottom of the tranny with a 23 mm socket, let it all drain. Remove the fill plug to make it drain faster. Once it's all drained out, replace the drain plug. Don't forget the metal gasket.
To fill it, either get a really, really long funnel (what I did), or use a fluid pump meant for this type of job. Anyway, the P5 takes 2.9 quarts of fluid (75w90 I believe). I used Mobil1 and noticed a small difference in smoothness. Worth the $$$, IMO.
Let me know if you need pics of the plugs so you can locate them.