It would be preferable to change the fuel filter when the fuel tank is less than 1/3 full, and the car is parked heading uphill. Firmly apply the parking brake, place the shift lever in Park, and block the rear wheels.
There are two steps to depressurize the line. The first would be to momentarily remove and replace the fuel filler cap; in order to release any air pressure that has built up inside the tank.
The second would be to remove the fuse for the fuel pump, and then try to start the engine. If it starts; let it run until it quits. If it doesn't start; you won't need to worry about there being fuel pressure in the line.
There will probably be some residual fuel spillage when the lines are disconnected; so it would be helpful to have some large rags and a container available to catch the dripping. If the lines are difficult to remove from the filter; a flat bladed screwdriver would be a good tool to help push the lines off. It also sometimes helps to try to rotate the line on the spigot, in order to break loose adhering surfaces.
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