If you're pretty handy and follow the correct procedure you can probably do it yourself, I always take mine to Toyotec to get that done as I'm pretty useless with most car repairs and I want to make absolutely sure it's done right. I don't want to worry you but 120k is a lot of miles to have put on the transmission with the original fluid, it'll be well and truly burned up by now and there may already be some damage. You may want to check the fluid that comes out of it for metal shavings. Hopefully that won't be the case and if it's shifting ok then that's a good sign, just bear in mind that when manufacturers say the fluid is "sealed for life" they only really care about the car making about 100,000 miles, beyond that they don't care - the car's well outside the warranty period by then and if it fails and writes the car off they can sell you a new one.
If you service it properly and it eventually fails sometime after, it was the 120k without servicing that killed it, not the service. But hopefully that won't happen and you'll get a load of happy miles out of it. Actually that's another reason to have an experienced tech do the service, if they're good they'll test drive it before and after and make sure there are no issues like the shift points being wrong or delayed engagement etc.
I don't know if you have a lot of history with the car but if the paperwork doesn't seem complete it's possible it has been done at some point, you may want to pull the dipstick and see what the fluid looks like. If it looks pink or dark with a hint of cherry red then that's good fluid, chances are though it'll be dark brown/black and smell burned.