Without SH-AWD

Raise the vehicle on a lift
Remove the exhaust pipe hangers (A).

Fig 1: Exhaust Pipe Hangers, Under-Floor TWC, Converter Cover, Gasket And Self-Locking Nuts With Torque Specifications
Courtesy of AMERICAN HONDA MOTOR CO., INC.
Remove the under-floor TWC (B).
Remove the converter cover (C).
Install the parts in the reverse order of removal with new gaskets (D) and new self-locking nuts (E).