i just had my 2003 version out last week. They may or may not be the same.
It is a pain in the a** if you dont take off the trim panel, but can be done.
I used 2 "dental picks" with the offset twists to get behind the two tabs you see from the insde, then gently pulled the lighter body out.
There is also a plastic retainer and a lighter stay as well, so 3 pieces not including the element.
You will need some sort of clip to hold the wires for the socket and light after you unplug them so they dont fall back thru the hole.
I used a pair of hemostats.
The pieces also need to be properly aligned when reinstalling, and the body has to be in the retainer before pushing it back into the stay.
it would be much easier to take the trim plate off on an '03, but the dash looks different on 2nd gen cars.
I had just reassembled the trim plate and didn't want to remove it again, so I did it the hard way.
If you are just wanting to replce the bulb for the light forget it.
You will have to purchase a new stay, as the bulb is soldered into the socket and is a one piece bulb / socket part that twists into the stay.
I could not find the bulb seperately from the stay.
I dont smoke or need the lighter, was just trying to get all the bulbs in the car working.
The stay for a first gen is part number 85515-02041 from various Toyota parts houses.
You can also find the parts on ebay but they are more costly.
Once again, this is all for a 03-08 first gen car.
Good luck!