Sixto,
Just grab the pillar trim by the top and pull towards the center of the dash. It will pop right off.
I recovered mine last year... easy task. Pull off all of the old fabric, spray the plastic trim piece with some adhesive, and stick a new piece of fabric on. A trip to your local fabric store will let you see lots of suitable fabric in different colors/finishes.

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KenP

1996 S500 W140 Coupe