2002 dodge ram 1500 trans problem

the truck has 93000 miles on it now and no I have not changed the fluid but told my wife about a mouth ago that I was going to do it..why I havent???I dont drive it alot I drive my work truck mostly all the time.....and yes I have towed with it last time was about 2 mouths ago.....the fluid looks brown and smell bad so I know that needs to be done...and it is a 4.7 so does it have the bads that can be adjusted??????hope so it this something I should try at home or just go to the dealership?????????money is very tight right now.....any ideas and help would be great..thanks all