The final drive? Is that like the differential in a car? That's what I was going to change. You mean I need to put oil in the actual shaft as well? How do I get to that?
The drive shaft oil is accessed by a drain and a fill plug in the forward-most part of the alloy casting of the final drive, right behind the black steel swingarm tube that the drive shaft runs in.
These are the plugs that are most easily stripped back there. Especially the drain plug, because well-meaning but ham-fisted newbies (like me when my bike was new) try to stop this from leaking by tightening it (more). My dealer at the time was happy to install a Helicoil for me and didn't give me too much grief over it. This is the space that takes a little less than 150cc of gear lube.
The final drive is sort of like a differential in a car, except there is only one crown wheel, so it does not have any differentiating to do.
Your bike, being an '81 has a different design than my '79, so I might not get it right.
First, a picture of what yours should look like, courtesy of trolle:

There are 3 "ports" on yours -
12 o'clock is a vent that can be removed
9 o'clock is a small plug - I believe the oil level is supposed to come up to the bottom of the threads when that is removed.
6 o'clock - is the drain plug.
Here is your instruction manual, BTW - it is located in our FAQ section:
http://www.bmwr65.org/htdocs/yabbfiles/Attachments/R65OwnersManual_001.pdfChanging oils in on pages 54-57 of the book, pages 20 & 21 of the PDF. Â Read, learn and enjoy!
You can change all three locations in less than an hour. Â Ride the bike first and get them warmed up so they drain easily.
If you, personally have not changed the engine oil and filter, you should seriously consider doing so in the near future.
Keep a log book with the dates of the service, mileage and what you did.
When you adjust your valves (have you done that yet?), measure the gap
before you adjust them and record
those numbers in your log book as well, so you can tell if they are closing up on you faster than normal.