this is what i put in when i did my oil / filter change MILLERS OILS XSS 10W40 SEMI SYNTHETIC OIL 5LTR. Id also like to add that i reckon it's worth getting a K&N oil filter if you can get hold of one as they have the nut on the end. I had a pretty hard time getting my last oil filter off. Just my opinion though.
If you want to spend some extra coin, then get the TRD oil filter. Toyota OEM is very good quiality filter, better than K&N - do some search on the forum!
If you have problems taking it off the car, get a screw driver and a hammer - put it through the old filter, job done in 2 min.
OEM Toyota filters a bit longer than the other filters - so they're easier to take off.