Some things you just need to figure out for yourself. I'm saying the yaw sensor is one of them. Nobody is going to tell you exactly how to do this procedure, because it is potentially very hazardous, and comes with a degree of liability. You've been told where it is located, and there is complete schematics here on our site; that should suffice. Maybe I'm wrong in my thinking here, and someone will supply you with a step by step you-tube video.
For the record, I'm suggesting that you not do this.