B737 Next Generation Undifferentiated
Flight Crew Air Transport Pilot (ATP); Flight Crew Multiengine; Flight Crew Instrument
Flight Crew Type 951
Situational Awareness; Time Pressure
ATC Issue All Types; Deviation - Track / Heading All Types; Deviation / Discrepancy - Procedural Clearance; Deviation / Discrepancy - Procedural Published Material / Policy
Air Traffic Control Issued Advisory / Alert; Air Traffic Control Issued New Clearance; Flight Crew Became Reoriented; Flight Crew Returned To Clearance
Human Factors; Procedure
While established on the FRNCH3 RNAV Arrival in the vicinity of HIMOM intersection; ATC changed our arrival from the ILS 34R to the RNAV (RNP) Z RWY 34R. The RNAV approach was loaded into the FMC; NAV panel and bugs were set; and the approach was quickly briefed. During our rushed approach set up and briefing I failed to [verify] that the FMC legs page was not sequenced properly; culminating in the AFDS not capturing the RF turn at MCMUL and continuing a track to KALME. I disconnected the autopilot; turned left to reestablish on the approach track and shortly thereafter the Approach Controller queried about us not being established on course. We were then cleared to proceed visually to Runway 34R and landed safely.
B737NG Captain reported a track deviation occurred following a late clearance change to the RNAV (RNP) Z Approach to Runway 34R at DEN.