Wsalam, when you go under the car and inspect the front and rear driveshafts, you will find 6 small circular protrusions. Those are grease fittings, also called zerk fittings or grease nipples. This is what it looks like:
https://5.imimg.com/data5/AI/NF/MY-40941768/hydraulic-grease-nipples-500x500-500x500.jpg
The lower threaded part goes inside the prop shaft and the opposite end with central bearing(sort of like a ball valve) is exposed and is where you attach the grease gun coupler. Here is another picture of grease nipples on the drive shaft:

This image is of the front driveshaft near the transfer case. Notice the two grease fittings. The outer one is to lube the slip-yoke, the inner one is to lube the spider joint. A picture of a spider joint with its needle bearings on each end:


See a few videos on youtube before you attempt. You will find plenty of videos of Americans doing this on their Tacomas and Tundras. Also read the main post, I have explained all the pertinent steps.
As for the grease, I bought it in person. I searched the internet but couldn't find what I was looking for. You can find grease usually at engine oil shops. Or sometimes there are dedicated grease shops too.