Its actually not all that hard.

Raise rear of vehicle (or whole vehicle if you have a lift) off the ground, having removed passenger side wheel. In the center of the rear hub you will see a nut. Loosen/remove that, it holds the axle into the splined socket on the rear wheel assembly.

Remove the rear cover on the differential/drain fluid. Find the c-clip on the inside of the diff that holds the CV axle in place, remove clip. the axle should have enough side to side play with the car raised up that you can slide it out of one of the ends (either diff or wheel) by moving it back and forth.

The seal should be easily replaced with the cv axle out of the way.

Reinstallation is the reverse of this.

For a more detailed process of it with pics, do a search on the forum for "CV axle replacement" etc...doing some searching will find you some great threads on this. Also, they are likely listed in the "wiki/DIY threads" part of the forum.

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