(edit - this is for 2005 and 2006 models only)
This walkthrough shows you exactly where everything is, and also how to remove fasteners and parts without breaking anything.
Green arrows, DRL module
Red arrows, panel attachments
1. Lower the panel above the pedals
There are three plastic attachments for the lower panel. For the two in each side, turn counterclockwise 90 degrees, and the screw head part will pop out, now you can grab it by hand and pull it out completey. The middle attachment you must use firm pressure on to pull it out.
2. You will see the DRL module on the firewall with a white and black connector. If you can read the green sticker on the top it will say "DRL" on it.
3. Pull the white connector out only, secure it so it does not rattle, perhaps with a zip-tie as shown
4. Put the panel back.
Just push the middle attachment back in With the "screw head" part of the black attachments extended, push it into the two holes on the sides. Then push the screw head in to lock it into place.