www dot hondaautomotiveparts dot com has diagrams of basically everything. You have to select your car's specs then find the component you are looking for from a list. the o2 sensor is under "exhaust pipe" for yours. before the format of the forum changed I used to know how to post the diagrams into the body of my post, but now I don't know how anymore (I'm going to have to remedy that.)
Jimblake will probably get you a diagram....

 

Find the drawing, right-click the picture, properties, copy the full URL of the picture.
Click the picture icon above the text box where you write your post.
Paste that picture URL into the field...

The sensor we're talking about is #17. It's screwed into the side of the catalyst, but there's heat-shields you have to deal with. Plus, I think the wire goes thru the floor, so you have to go underneath the passenger seat to unplug it.

 

So I ended up getting it done at a shop. They confirmed AutoZone's diagnosis that it was a P0141 error and installed the new O2 sensor. He noted that the CEL still won't go off and it still hasn't after 2 days. He said it may take a few days to go off as the sensors sync up.

Is that true? Any thoughts on why the CEL still won't go off? Thanks.

 

Aftermarket sensor?

Check the No. 18 ACG (15 A) fuse in the under-dash fuse/relay box.

Or it could be a ground/wiring fault.

 

you go to the center of warranty

 

It is an aftermarket sensor and I just pulled and checked the No. 18 fuse and the CEL didn't go off.

Does it matter that it's an aftermarket sensor (non OEM)? If it is a ground/wiring fault how can I fix that?