Hi, if you don't know when it was last done do it asap. They need to be changed around every approx 80,000 k/m although some do them earlier.
as for costs it depends on whether the upgrade has been done:
British Four Wheel Drive - Land Rover & Range Rover Parts Specialist :: DISCOVERY SERIES 1 :: ENGINE COMPONENTS :: 300 Tdi TIMING BELT TENSIONER & IDLER PULLEY UP TO VIN. VA117353
The early 300tdi's had issues with their timing belts or the tensioners so upgrade kits were made. Most would have had the upgrade by this stage so its highly likely yours only needs a new belt etc so much less cost.
As to doing it yourself, apparently it is easy but i've never done it.
Good luck
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