The solution for the soliton in a $\phi^4$ model is given by making a field $\phi$ which depends only on x and t, and is independent of any other spatial dimensions. This is a classical one dimensional problem.
When the mass-squared parameter is negative, then the soliton appears. It is the solution to the equation
$$ \partial_x^2 \phi + \phi - \phi^3 = 0 $$
Where x is rescaled to absorb $\mu^2$, and $\phi$ is rescaled to absorb $\lambda$. The solution is gotten by using a version of conservation of energy, which works here because the above is a second order differential equation, which looks just like the motion of a particle in a potential
$$ V(\phi) = {1\over 2} \phi^2 - {1\over 4} \phi^4$$
Note that this is the inverted field potential appearing in the Lagrangian. The solution for $\phi$ has a x-conservation of x-energy, because if you call x "time", then the second order equation turns into Newton's laws for a one-dimensional motion. The conserved quantity is
$$ {1\over 2} (\partial_x \phi)^2 + V(\phi) = E$$
For the soliton solution, $\phi$ should go to the vacuum solution at $x=\pm\infty$. The two vacua are the two minima of the original potential, the places where
$$ \phi - \phi^3 = 0$$
or
$$\phi = \pm 1 $$
The potential at these field values gives the energy, because the field gradient has to go to zero at infinty. This makes the x-energy 1/4 at infinity.
The conservation of x-energy then tells you the field gradient
$$ (\partial\phi(x))^2 + \phi^2 - {1\over 2} \phi^4 = 1/2 $$
or that
$$ {1\over (\phi^2-1) } (\partial_x \phi) = \pm t+C $$
or
$$ \tanh^{-1} \phi = t+C $$
Which gives the standard $\phi^4$ domain wall soliton
$$ \phi(x) = \tanh(t+C)$$
This solution is a particle in 1d (1+1), a line in 2d (2+1), a domain wall in 3d (3+1), and in general, a d-1 dimensional object in d dimensions.