Copied from an old post of mine.
Changing the VTM fluid is not a big deal.
1. Make sure the vehicle is on level ground.
2. Remove the oil filler plug and sealing washer, remove the drain plug and sealing washer.
3. Clean the drain plug, then reinstall with a new washer. Tourqe the plug to 35lbf-ft.
4. Refill using the VTM-4 differential Fluid (currently only available from Acura), add the VTM-4 Fluid till it runs out the filler hole.
5. Reinstall the oil filler plug with a new washer and tourqe to 35lbf-ft.
The oil filler plug and the drian plug are on the back side of the Rear Differential. There is a hole thru the frame to access the filler plug and the drain plug is at the bottom. You can access this easily without jacking the car up, you will need a small pump to pump in the fluid as the is no room for a funnel. The differential holds 2.8l or 2.95 US qt at oil change. Hope this helps! Easier to change than the transmision oil in my Integra GSR!!
Greg in Hotlanta