How do I check the transmission fluid in an Audi A4?

I've noticed some shifting issues in my Audi A4 and think it may be related to the transmission fluid. Can anyone provide a step-by-step guide on how to check the transmission fluid and how often it should be replaced?

To check the transmission fluid in an Audi A4, park your vehicle on a level surface and wait for it to cool down. Then, locate the transmission dipstick, usually near the engine. Remove it and wipe it clean before inserting it back in and pulling it out to see the level of fluid. Consult your owner's manual for the recommended replacement schedule.