I basically know whats involved but not sure I have the skills.   I could bite the bullet on the price but I'm going to be bleeding a lot.  I don't want to go over my head.....but I've done it before.

If you're a half way competent weekend mechanic, you can do this.

I haven't done it on a Samurai, but I have done it on a Suzuki Swift that uses the same engine, just in a transverse orientation - the trick is to start by setting the engine to TDC (top dead center) so that the marks line up before removing the old belt.

Very briefly the steps go like this ...

1 - If necessary for clearance, drain the cooling system and remove the radiator.
2 - Remove the accessory drive belts
3 - Unbolt the crank pulley - not the center bolt - the four or five smaller bolts around it - and remove the pulley.
4 - Unbolt & remove the timing cover
5 - Turn the engine and line up the timing marks
6 - Loosen the tensioner pulley & remove
7 - Remove the old belt and fit the new one - making sure the marks are still aligned.
8 - Fit the new tensioner pulley and allow to set the tension before tightening
9 - Rotate the crankshaft two full turns and make sure the timing marks align
10 - Refit the timing cover and other bits.

It's not that hard. Just remember to throw the Haynes manual away if you have it and download the factory service manual (main page) for the correct steps.

-Eric

If all else fails, check out YouTube.  There is very likely a video how to there...Timing belt changes on old Japanese single cam motors are pretty easy and straightforward.