We're talking about the inner ends of the cv shaft, where it goes into the front third housing. the passenger side is held into the side gears inside the diff by a round springy clip that rides in a groove on the inner end of the shaft, inside the housing. To remove this side, gently pry it out of the housing and be careful not to lose the clip as you slide the end out of the housing. To put it back, make sure the clip is in the groove and slide it back in all the way until it's seated. The driver's side is really easy, it is bolted to a flange at the diff housing, just remove the 3 bolts holding the flange to the cv and it's off. To put it back, just line it back up and put the 3 bolts back.