This is to a 2005, but you should be able to use this to find your solution.
click on your engine either 4 or 6 cylinders and then on the side click the engine electrical, then on spark plugs, you should be all set!
This should help. I do not know why the link didnt come through before, but Autozone has manuals that show how to do jobs such as spark plug changes.
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It's quite the pain the the **** as I did this last year.
on my six cylinder I had to take off the stabilizer bar across the top of the engine (The one running from fender to fender) and the aluminum intake as well as the speed control cables, and several sensor cables on and around the intake. What should be a 45 minute job takes several hours to do right. I never fully removed all the all cables from the intake. once it was loose enough to move around I just turned it sideways and moved it back enough to reach the back three plugs. Sorry I can't be more specific.
I'd consider letting the dealer do it next time if it's under $200 to do.
This is for a V6 in a tiburon but same steps to do for the Tuscon as its the same engine.
http://www.newtiburon.com/forums/showthread.php?t=1760
This link also includes step by step pic's. This job will take you several hours to complete.
How do I change my spark pluge on my V6 tucson 05
SOURCE: how to change spark plugs on hyundai 2004 2.4L
Remove the plastic cover that goes over the engine (the one with the Hyundai logo).
At this point, you will see the cables that goe to each fo the spark plugs.
Noting their position, remove them.
The spark plugs are ready to be removed, turn counterclockwise and replace with manufacturer recomended ones.
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location of the spark plugs
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