WARNING: This page is about a different car, the 2011 Honda Pilot, 2010 Honda Pilot, and 2009 Honda Pilot. However, it is still accessible from the selected car via links, so may be relevant.
Disconnect the front A/F sensor 6P connector (A), then remove the A/F sensor (B).
Fig 1: Front A/F Sensor 6P Connector & A/F Sensor With Torque Specifications
Courtesy of AMERICAN HONDA MOTOR CO., INC.
Install the parts in the reverse order of removal.