https://www.clublexus.com/how-tos/a/lexus-is-how-to-replace-your-power-window-actuator-365649
The link above is for the next generation of your car. However, I have replaced a handful of window motors on my cars over the last 20 years and they are all similar.
1. Disconnect the battery.
2. Remove the inner door panel.
3. Disconnect any relays or harnesses attached to the motor.
4. Unbolt the old motor.
5. Bolt in the new motor.
6. Reverse steps 3, 2, and 1.
These repairs have always been some of the most frustrating repairs I've performed on cars. Be prepared to take it slow and walk away for a few hours when you want to punch something :p