What is the most logical next event?

How to change headlight light bulbs on 2002 toyota rav4 
Buy your replacement bulbs (the auto-parts store will have a book or touchscreen where you can look up the model type). 
Park in a well lighted place and pop the hood. 
You don't need any tools.
Even if one bulb is burned out, plan to replace both bulbs. The other bulb is bound to go soon anyway.