well i put tie rod ends on my car before. I would think its nearly the same thing. Undo the 15mm(I think) nut and cotter pin from the shaft of the tie rod end, and then you can use either a pickle fork to loosen it or you can sometimes use two hammers and hit the spindle or whatever with it and it'll usually loosen the tire rod end from there and then you can pull it out. Mark the distance from the nut on there to the end of the threads before you loosen the nut. Then just twist the tie rod off and thread the new one on.
Use a peice of chalk and mark on the streering shafts where the stock ones are before you take them off and I can't say the word "pickle fork " enuff! .....jjout