Two options.
A mechanical flush at a BG flush certified transmission shop.
I would only do this if I could watch the procedure and make sure they do it with proper chemicals/replacement fluid.
www.bgfindashop.com
or a drain/refill procedure that many including I have done.
If you go the drain/refill route you will need to buy about 14 quarts of transmission fluid.
Fsm shows Dexron II as spec but III or higher will work.
You can also get the Nissan fluid from a Nissan/Infiniti dealer if you are uber anal about it.
Get two tupperware type containers that will hold at least 4/5 quarts of fluid.
Drain the pan into one of the two containers.
Pull the pan and replace the filter/screen AND the Oring.
Then clean out the debris from the pan.
If you have more than say a large pea sized mass of clutch material start saving for a new transmission.

Clean the lip of the pan install the new gasket.
I found it easier to put a bolt on the 4 corners through the gasket and then loosely install the pan.
Install the rest of the pan bolts loosely the tighten them down in a star pattern according to the FSM spec torque amount.
Then set the container with old fluid next to the other empty container.
Fill with new fluid to the same level of old fluid.
With a transmission fill Funnel pour the new fluid in.
Start the motor and run the transmission through ALL the gears.
Letting each gear run for 5/10 seconds.
Driving around the block is optional as long as long as all gears are engaged.
Shut engine off and do the same drain/ refill with putting in what you drained out
till the fluid coming out is as pink and fresh as what your putting in.
