Spark plug removal/ replacement .

Vehicles: 2000 Kia Sportage 4-cylinder 2.0L MFI DOHC 1998-2002

They're hidden underneath the coil cover, which is partially obscured by the accelerator cable bracket, which is obstructed by the air intake.

They're accessed from the top of the engine.

If you don't have a compressed air line to blow dirt away from around the plugs before removing them, one may blow through a plastic drinking straw (while closing eyes), or use a can of compressed air (with a little red plastic straw) sold for use cleaning computer PC boards/keyboards.

Where the manual (below) says "carefully install the spark plug into the cylinder head", you may consider one or another of a couple of experienced mechanic's tricks (used to avoid cross-threading the plug thus damaging the head):
trick 1: start plug by putting plug onto the end of a piece of stiff-ish hose, and
start the threads by gently turning the end of the hose. Once plug has
safely started turning into its threads, switch to a spark plug socket.
trick 2: use the spark plug socket, but carefully start the plug by gently
turning the plug COUNTER-clockwise, until the plug drops a hair - at this
point you know you've found the start of the first thread. Then gently thread
the plug in clockwise.
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Spark Plugs - Removal & Installation

WARNING
Do not attempt to remove spark plugs when the engine is hot.

(1) Disconnect the negative battery cable.
(2) Remove the air intake hose assembly.
(3) Remove the accelerator cable bracket.
(4) Remove the six bolts and coil cover from cylinder head cover.
(5) Remove the four bolts and the two coils from the cover.
(6) Disconnect the high tension leads from the spark plugs by twisting the boot and removing.
(7) Use compressed air to remove any dirt from around the spark plug hole.
(8) Make sure the spark plug socket fits squarely on the spark plug, and then remove.
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To install:

(1) Be sure the spark plug gap is set to 0.039-0.043 in. (0.98-1.09mm).
(2) Apply anti-seize compound or light lubricating oil (WD-40 or 3-in-1) to the spark plug threads.
(3) Carefully install the spark plug into the cylinder head and torque to 11-17 ft. lbs. (23 Nm).
(4) Reconnect high tension leads to the spark plugs.
(5) Install the two ignition coils and torque four mounting bolts to 14-19 ft. lbs. (26 Nm).
(6) Install the coil cover and secure with six bolts
(7) Install the accelerator cable bracket.
(8) Reconnect the air intake hose assembly
(9) Reconnect the negative battery cable.

You shouldn't need to remove the rocker arm cover/valve cover. All you should need is a long extention with the spark plug socket on the end of it and just put it down in the hole. You didn't mention the model or year of your hyundai but in many of the Hyundais, this is the case. I know in all cases the valve cover does not need to be removed in order to change the plugs. I hope this helps you and good luck.

First, remove the no. 1 engine cover. Locate the ignition coils, these will be squarish-looking packs with spark plug wires (4 of them) coming out. The wires should be going to the spark plugs, which are on the front and back side of the engine.
Grab the ignition coils or spark plug wires by the thick plastic piece at the end of the wire. Squeeze the end and turn it to release it from the spark plug. Pull back to remove the plug from the engine.
Slide the spark plug socket over the spark plug. The most common size of spark plug socket used on a Toyota Highlander is 16mm. Turn the socket to the left to unscrew and remove the spark plug from the cylinder well.

How many miles you got on the car? You know spark plugs are becoming a thing of the past. I haven't changed plugs in any of my vehicles in 10 years. they all go 100,000 miles now days, but , if you want to change them, first buy a new set, platinum tipped, good ones. Then follow the leads to the plug in the rocker (valve) cover, usually set in a well about 6 inches deep, you will need a good plug wrench to pull them out, some times the plug wires soften up in there and fight the wrench for control, just clean them off and let them dry out, they will be OK, If the wrench won't pull them out, get a piece of hose that will fit over the end of a plug and grab it with that, you can use it to get them started too. Do one at a time, do not pull out all the plug wires and expect to get them all back in their holes unless your looms are very close to the wells. Now this is for 98% of all cars, yours should be in this category, maybe a little different. Setting the gap is a thing of the past too, most plugs are preset, you can check if you want. Hope this helps.

assuming you are using where is the plug-------------- Plugs are on either rocker cover....there are 3 ign coils on each rocker cover that need to be removed then remove the plugs You will need a 5/8 spark plug socket as well as a long extension to replace them 8mm socket holds the individual coils on