Park your ACURA and ensure the parking brakes are set.
Loosen the lug nuts and safely jack up the vehicle.
Here is the location of ACURA wheel speed sensor.
Track the wire to the wheel well and disconnect the electrical connector.
Remove the 10mm bolt that secures the wheel ABS sensor to the wheel hub. It may be difficult to remove the sensor if there is rust. Spray penetrating oil and allow it to sit for at least 10 minutes.
Install the new sensor and fasten the bolt to 8 ft.lbs or 10 Nm. Connect the wire harness. Install the wheel. Torque the lug nuts to specification. Take your ACURA model for a spin and make sure the ABS is off.
ABS light should turn off after the vehicle is driven for a couple of minutes.
If the light remains on, you will need to read the fault codes from the ABS module.