Bank 1/Sensor 2

Disconnect the battery (-) terminal.
Disconnect the heated oxygen sensor connector (A), and then remove the clip (B).

Courtesy of HYUNDAI MOTOR AMERICA

Courtesy of HYUNDAI MOTOR AMERICA
Lift the vehicle.
Remove the heated oxygen sensor (A).
Tightening Torque:

39.2 - 49.0 N.m (4.0 - 5.0 kgf.m, 28.9 - 36.1 lb-ft)

Courtesy of HYUNDAI MOTOR AMERICA