The door panels just pop off and up. In other words, use a screwdriver or putty knife, put a cloth over it so you don't scracth anything, insert it at the bottom rear corner and pop the panel out. One you have all of the plastic retainers poped out on the front, bottom and rear, then lift the entire panel up. Once it is free you will then have to remove the cable for the door locks and handle (easy to do). Do a search and you should find a couple of good threads and pics. There was even some discussion on the rivets.

I recently had both of my passenger doors done at the dealer. The lock actuator was about $97, and labor was about $150 (hour and a half). My ML is a 99 and they gave me 90% good will so I only had to pay 10%.