You have the FSM (factory service manual) for the 2002 model year, yes? Also, it uses timing *chains*, not belts.
From what I understand, it's a very time-consuming job because you have to tear into so much of the engine, but as long as you're methodical and are able to give it the time it needs without rushing, it's not overly difficult. I believe it may require some special tools though. The FSM has full details.