If you have access to a garage or other enclosed (maybe even heated) pace, socket wrench set, 8" C-Clamp, and a jack are the minimums of what you'll need. Depending on how stubborn the nuts are (heh), count on about an hour per wheel. Jack-stands (or cinder blocks in good condition) are a REALLY good idea, so the vehicle doesn't rock off the jack while trying to get those nuts to move.

Also, youtube is GREAT for specifics on your vehicle.

Did the Prius, and the only thing I regretted was not having a lift for more clearance around/under the wheel well.