This info, found in the service manual but here is a basic outline that works very well.
Park the vehicle on level ground facing a wall, vehicle 25 feet from the wall, and it has to be dead square facing the wall. Measure the distance from the center of your headlamps to the ground. Take that measurement, and put a line of tape the width of the car at the same height on the wall. Make two vertical tape stripes from the horizontal stripe going down to the ground that are spaced the same width as your vehicle. Adjust the hi beams so the center of the beam straddled the horizontal line where it intersects with the vertical line. Adjust the low beams 4" below the horizontal line. This is not a 100% but very close.
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When I die, I want to go peacefully like my grandfather did, in his sleep.
Not screaming like the passengers in his car. 
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