The starter is on the back side of the engine under the intake manifold
and it is bolted to the trans. Remove the air box and you should see it.

4A-F, 4A-FE and 7A-FE Engines
 
- Disconnect the negative battery cable.
- Remove the air cleaner assembly (with hose).
- Disconnect all the wiring from the starter terminals.
- Remove the starter mounting bolts. Remove the starter.
 To install:
 
- Attach the connector to the terminal on the solenoid switch.
 Connect the cable from the battery to the starter and secure with the
 nut.
- Place the starter in the flywheel bellhousing, tighten the mounting
 bolts to 29 ft. lbs. (39 Nm).
- Install the air cleaner assembly.
- Connect the negative battery cable.
- Check the starter for proper operation.
 
4A-GE Engine
 
- Disconnect the negative battery cable. Remove the both engine under
 covers.
- Remove the front exhaust pipe.
- Remove the electric cooling fan.
- Disconnect all the wiring from the starter terminals.
- Remove the starter mounting bolts. Remove the starter.
 To install:
 
- Attach the connector to the terminal on the starter solenoid.
 Connect the cable from the battery to the terminal on the switch and
 secure with the nut to 29 ft. lbs. (39 Nm)..
- Install the electric cooling fan.
- Install the front exhaust pipe.
- Install the left and right engine under covers.
- Connec the negative battery cable.
- Check that the starter works properly.
 You didn't state engine, so there's for both of them.

If the 4A-GE, yeah, not too easy.  If I recall, though, you are probably
best off attacking the starter bolts from under the car, either engine
series.