Good luck Kirk...j/k, you SHOULD use a jack and jackstands tho, safety first and always !! The rear will drop a few inches on itself if you don't but if you are thin like me you can still do it lyin' on your back.
But yes, once you look at the set-up, you should see how easy it is to replace them. 3 bolts hold each one on and 2 hydraulic lines to each cell. It'll be messy, no way around that.... You need at least 2 cans of the MB hydraulic fluid also. To bleed the system and pump in new fluid; un-do the return line at the top of the reservoir in the engine bay, run a length of clear tubing to a catch basin and run the motor, the old fluid will deposit in the basin while you fill up the reservoir with new stuff. System is supposedly self bleeding of air bubbles but it doesn't hurt to crack the 10mm plug at the top of the rear unit and run the car a bit(where the connecting rod attaches to the swaybar by the right rear wheel is a bleed screw).
I may have a .pdf file of the factory procedure as well...let me look.