How do I replace my DRL light bulb?

My dashboard console displays "Right Front Dipped Beam Defective". Looking at the front, it look like my DRL light bulb is burnt out. I need step by step with pictures on how to replace this bulb. After taking it into dealer, they said that I "may" have xenon lights and those bulbs are more expensive and they would have to take out the bumper to get at the housing unit to replace the bulb and "balance" the unit. Is this a crock or is he telling me the truth? I don't recall buying the vehicle w/ xenon lights and no where on my purchase contract that it says I have them.