I've done it with a pair of pliers, a socket, the greasy oil film on the oil pan and my two hands... oh and it was raining. It isn't the easiest process but I disconnected the end of the linkage at the transmission. Then I replaced the bushing at the other end and finally the bushing on the transmission end. They are a very tight fit. I lubed the outside by rubbing them on the greasy oil pan. Then I used the pliers and a socket to press them into the hole. The rod will fit into the bushing without a huge effort once the bushings are in the holes.

-Tad

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1995 G320
2003 C230 Kompressor Coupe
2005 ML500
2007 ML350