It really is easy even if you don't have a lot of mechanical experience. The front is a lot easier than the rear, especially if you synchronize it with an oil change as you have to remove the splash guard. After that the front is just a couple of bolts. The rear has the hassle of disconnecting the muffler from the exhaust pipe, but other than that it is a piece of cake. When you do the rear I would recommend that you remove one wheel to give yourself more room for sliding the bar in and out as you still have to get it over the rear brace. When you slide the new one in just make sure it is facing the right way or it wont fit
A torque wrench is definitely recommended, but if you don't have a torque wrench take care not to over-tighten the brackets in particular.