With SH-AWD

Raise the vehicle on a lift.
Remove the exhaust pipe hangers (A).

Fig 1: Identifying Exhaust Pipe
Courtesy of AMERICAN HONDA MOTOR CO., INC.
Remove the under-floor TWC (A).

Fig 2: Under-Floor TWC, Converter Cover, Gasket And Self Locking Nuts With Torque Specifications
Courtesy of AMERICAN HONDA MOTOR CO., INC.
Remove the converter cover (B).
Install the parts in the reverse order of removal with new gaskets (C) and new self-locking nuts (D and E).