On the side of the tranny (usually the driver's side) is a plug. In most cases a 3/8 ratchet will fit into the square socket of the plug . Remove plug. Stick your finger in the hole. If your finger is wet, the tranny is full. If your finger is dry, the tranny is low. To drain the tranny, there is another plug on the bottom side. Drain, replace bottom plug, add fluid through side hole (see owners manual for amount), when fluid comes out side hole its full, replace side plug.
Now for the hard part. You MUST check the owners manual to see if your tranny takes automatic tranny fluid (Dextron II) or axle oil (90 weight). Different trannys, even by the same company will take different fluids due to their design.