Not easy to change the oil on the hard. You really want to run the engine and have the oil hot to get it out. The more you run it the better especially if it has sat for a while allowing the "sludge" to settle. I will add that if you chance the oil at the required intervals there should not be any real "sludge" to worry about as the oil filter should be doing it's job. Therefore just get it hot so it will be easier to remove and get out what you can. If a little oil remains, don't worry about it.
On most of the newer engines you will need to suck the oil out through the dipstick tube with a pimp designed for that purpose. In some cases you attach the pump to the dipstick tube and pull the oil out. I prefer to put a small tube down the dipstick hole so I am sure I can get to the very bottom. Make sure it does not suction it's self to the oil pan preventing the oil from being removed.
Some engines have a separate tube going to the lowest part of the sump especially for oil removal, Check the owners manual for the engine.
Keep track of how much oil you add and check the level often. You do not want to overfill the oil and it will let you know how much was left. Make sure you check it again after running it as the new filter will take some oil. Also be sure to check for leaks around the filter. If a little was left in the engine, don't worry about it, it will come out next time and if you are doing regular oil changes it will be just fine. I bet you will be a lot more fussy than any paid mechanic would be.