Front four are easy. However they are all recessed. I used the hose pipe trick to remove and start the threading of the new ones.
For the rear one I moved the wiring harness out the way. Couple of clips to undo and one side slides off in one direction and the other in another direction (can't remember exact directions but you should work it out).
I used a knuckle joint for easy access to the rear plugs. I torqued them all to spec and didn't lube the threads (which is the correct method for NGK plugs). The OEM plugs you want are NGK BKR6E-11.
Just be careful not to cross thread. The hose pipe will prevent this.