with a press. However, if they don't go straight, they will deform. I ended up opening one with a punch after they were in. Not the best way to do it but, it worked for me.
Make sure you have all the wrenches, tools, etc. needed BEFORE you start this job. Other than that, pretty straight forward but very thigh spaces to work with. BTW, Check you lower control arm outer bushing while you are at it. Mine are bad.
I did mine less than 6 months ago but, I cannot remember all the parts involved. Once you took out the olld ones I was able to figured out.