I found this website. http://www.bimmerboard.com/forums/posts/17351 its for a seven series, but I think it is a pretty similar procedure for your car. I could be wrong tho. If you get CRC QD cleaner, which is available at Kragen, you can spray a generous amount into the o2 sensors to clean them and you won't have to buy new ones. I cleaned the o2 sensors in my car and it helped quite a bit with fuel mileage. Your car most likely has more than one.
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