If the wheel does not telescope, you're going to need to pull it. There simply is not enough room. The good news is the wheel is very easy to pull. It is advisable to disconnect the negative battery cable as you will be taking the airbag off (safety first). There are two torx screws behind the wheel that secure the airbag. MB makes a special bit that makes this very easy. It can be purchased through your dealer. It can be done with any long torx bit, but I'm not sure of any other place that would definateyl have such a tool. After removing the airbag, there is one 10mm hex head that hold the steering wheel on. Make sure to scribe a mark in the wheel before you remove it to so it is straight when you re-install it. The whole process wil probably take you no more than ten minutes your first time.