I also thought this would be a complex task, but as noted above, it's a lot simpler than it looks. Check out this YouTube video by our own MaineSail on his Compass Marine site -
The Pela-brand of oil extractors are often recommended, which is what I got, but it's so basic that I'm certain many others will work fine. You just stick the suction hose into the oil drain or the dipstick hose, draw a vacuum with the pump, and wait for it to drain out. You may need a few more pumps midway through, to keep the vacuum high enough. Replace the filter by screwing it off (dripping oil everywhere, cleaning mess) and replacing. A plastic bin like are used to package mushrooms or veggies in the supermarket (no holes!) and plenty of paper towels are great things to have on-hand to catch drips from the filter or tubes.
Fill it with the manufacturer recommended viscosity oil, making sure it is Diesel lubricating oil (says so on the bottle). Do Not Overfill! Unlike the stuff in your gasoline car, it will immediately turn black due to mixing with the leftover oil in your sump, so do not be shocked when you check your brand-new oil level and it looks exactly like the stuff in the pump. Run and check for leaks around the filter. Oil is the absolute cheapest thing you can do to a diesel engine, so it pays to replace it at or before manufacturer recommended hours, and at least once a year.