Open the Toyota Tacoma's hood and locate the power-steering pump on the driver's side in the engine compartment.
Loosen the nuts that connect the in and out lines to the power-steering pump with the wrench. Place the 24 oz. cup under the pump. Pull the lines out of the pump and let the pump drain into the cup.
Loosen the nut that is securing the belt to the pulley. Remove the belt from the pump. With a wrench, remove the nuts that secure the pump to the Tacoma's engine wall.
Pull the power-steering pump out of the engine compartment. Insert the new pump in its place and replace the securing nuts that hold the pump in place on engine wall. Reconnect the belt to the pulley. Tighten the nut on the pulley. Connect the in and out lines to the corresponding holes on the pump.
Fill the new pump with the recommended fluid and amount. That information is found in the Tacoma's owner's manual. Turn the steering wheel to the left and right to get the fluid running through the lines.