I get a lot of pm's about servicing the gearbox on our cars, so rather than continuing to outline the fill procedure in private, I figured I'd post it up for all to see. First of all you need a Vag-com to monitor the fluid temp while you fill the trans. If you don't have one, don't try to fill the transmission You will also need a hand fluid pump which can be purchased at any auto parts store:
And a 17mm allen socket, and a T27 torx bit:
Step one is to raise the car (a lift is preferred, but jack stands are just fine). The car must be completely level (I usually just measure the distance from the ground to top of the wheel well and make sure they are within 1/4"). Now you can remove the drain plug (T27 torx) and drain the fluid. It's best to let it drain overnight, as the fluid has to be refilled starting with the car completely cold, or at the very least the fluid temp has to be below 30*c.
The next step after the fluid has drained is to remove the pan, and clean the magnets that reside inside. Brake cleaner will work, or any other solvent (I like lacquer thinner). Now you can replace the strainer (audi part# 01L-325-429-B ) and reinstall the pan along with a new gasket (Audi part# 01L-321-371). Next reinstall the drain plug and torque to 12Nm. Now you can remove the fill plug (17mm Allen socket).
Now, with your hand pump, fill the transmission until fluid starts to run out of the fill plug. Next get in the car and use the Vag-com to enter the transmission module, then select "measuring blocks" and enter block 004.
Now place the computer where you can see it from both in and under the car, and start the car. Turn on the AC. You now have to get back under the car and immediately continue to pump fluid until it again starts to overflow from the fill hole.
Now get back in the car, and with the emergency brake set, and your foot on the brakes, shift to reverse, then drive, holding each gear for 15 seconds. Now get under the car and add more fluid until it overflows from the fill hole.
Get back in the car and do one more cycle of reverse, then drive for 15 seconds each. Now get back under the car and check that fluid is still running out of the fill hole, and add more fluid if necessary. Now you can start to monitor the vag. The goal is to have fluid overflowing from the fill hole when the fluid temp reaches 35*C. At that point, you can reinstall the fill plug and torque to 80Nm.
That's it. When I service my trans, I usually do this procedure a second time after driving the car for about 20 miles, so as to get as much fluid out of the torque converter as possible. If you plan to do the same, wait to replace the filter until the second drain and fill.