I've done this perhaps 10 times by now, and it's very easy. My buddy and I swapped the last one in perhaps 30 minutes start to finish, including the interior removal and reinstallation. That's with battery powered drivers and a bunch of experience. The only real safety "must do" is to pull the disconnect from the side of the battery before you start unbolting things. This disconnects the high voltage before you get to unbolting the HV cables from the battery. I would pull the ground from the 12v battery as well (it bolts to the back of the quarter panel by the taillight, easier than pulling the battery terminals themselves).
Take your time and it's still not a long process. Look up Luscious Garage for how-to videos on the Prius in general.