It can be difficult to pull the transmission pan and filter on the S-10. And you have to be careful to get the old filter seal out. You'll need an assortment of 13mm sockets, a ratchet and extensions, and maybe a swivel, and maybe a few other tools, depending on brackets and shields. You need 8-10 quarts of fluid, a gasket (use NO sealer on the gasket, install it DRY), and a filter. It is a messy job.
Changing the coolant isn't bad. But disposing of it can be. It'll KILL small animals easily, a slow and painful death of kidney failure. A flush kit is cheap, and easy to use.
Get a service manual from your favorite parts house, such as Autozone or Advance. It'll be a tremendous help, and a few bucks well spent.