Covered under warranty?  I don't think so - bulbs never have been to my
knowledge.

But the job is easy.  There is a cover that screws off (usually two on each
side - make sure you open the one with the burned out headlight, and not the
one for the "high beam."

Headlamp is held in place by a retaining spring.  You push in on it
slightly, then up, and it should pivot back out of the way.  Remove the
electrical connector, and you will have it in your hand (as previously
advised, don't touch the glass of either the old or the new bulb).

Only two issues I have ever seen are:  a) Access to the cover of the
headlamp on one side is sometimes blocked by the battery.  In that case, you
will have to remove it, and "re-set" everything when you are done;   b) In
Hyundai's, my experience is that the other headlamp will burn out shortly
also.  So buy a pair of them, and whether you put the 2nd one in now or
soon, it won't be long.

Hope this helps.

Tom Wenndt