How to replace CODE PO193 FUEL RAIL PRESSURE SENSOR 2007 Ford Focus

How to replace CODE PO193 FUEL RAIL PRESSURE SENSOR 2007 Ford Focus I have a 2007 FORD FOCUS 2.0 and according to Smog Check station it didn't pass. So, had to go to AUTO ZONE and had them test it and the code shows P0193 FUEL RAIL PRESSURE SENSOR. I have about 298,000 miles on the vehicle. How to replace it.. FORD Dealer estimate around $500 to $600.