It is relatively easy and you'll need
a multimeter
8mm socket
12mm socket (turbos only)
extension and ratchet
Two flat head screw drivers (one large, one small)
WARM UP THE VEHICLE TO OPERATING TEMP! This is important as the amount of air let into the engine changes when the vehicle is at operating temp.
If you have a turbo vehicle you should remove the top mount intercooler first by taking out the four 12mm bolts that hold it down.
You should adjust the idle where you want it to be before adjusting the TPS resistance so now is the time to do it.
The TPS is connected to the throttle and is black and rectangular with wires coming out of the back.
http://www.illstreet.com/forums/attach-875
Disconnect the tps plug and insert the probes for the multimeter into the back of the black plug on the tps side of the two. The leads should be plugged into the green and the black connections.
Make sure the TPS is good by slowly giving it more throttle and watching the resistance. There should be no points of continuity or dead points. If there are you need a new tps and you've probably located the source of your hesitation.
If there are no dead points you should check the range of the tps. The most you want to see at WOT is around 6.4k ohms. Anything over this is unacceptable.
At idle the TPS should read 1k ohm. If it is higher or lower than this you should adjust it using the tps adjustment screw.
http://www.illstreet.com/forums/attach-876
Once this is finished your idle may change. If you want to fine tune it further you should adjust it from the BAC rather than the throttle. Any adjustments to the throttle will require a recalibration of the TPS.
(Photos courtesy of FC3Spro.Com (http://www.fc3spro.com/TECH/HOWTO/TPS/tps.html))