Trans service in 2002 Yukon

[19Kona]

what do I need to do to do it right?
What is best fluid, filter, etc...

[Havasu Hangin']

You can drop the pan and change the filter yourself (if you can get the truck in the air a little). To flush out whatever is still in the converter/cooler, you can disconnect the bottom line to the cooler, and either:
a). Start the engine and let it pump out until it stops. Turn off the engine, refill, and do it again a couple times.
b). Buy a hand pump and just hand pump it out.
c) Take it to a trans place and save the headache.
d) Just be satisfied that you changed out around 50% of the fluid and call it a day.
I use Swepco fluid, but others like Amsoil.

[Daytona100]

Bring it somewhere and get the trans flushed. You can run 16 qts thru it with a flush and no mess. Dropping the pan and you only change about 4 qts of fluid. Not to mention the mess factor and getting rid of the used atf. :)