Removing is fairly simple as long as you have a slide hammer, a pry bar and assorted metric sockets (I think all you need is a 14 and 17mm)
Quick basic setps:
1-jack it up
2- remove tires and brake drums
3- on older Kicks you will need to remove the brakes out of the way to pull the axle shaft
4- take the 4 bolts off of the back of the backing plate that secure the axle in place
5- hook up a slide hammer and pop out the axles
6- disconnect driveshaft and upper link
7- remove the bolts around the 3rd
8- attempt to seperate the factory sealant between the two cases with the pry bar

8 is a pain, you need to be carefull not to mess up housings, but you also need to find places to squeeze the smallest of screwdrivers/prybars in and slowly start to seperate the super sealant. It has always taken me longet to seperate the casings with stock sealant, than it took to do all of the rest of the steps. Hopefully somebody will have some hints on how to make it easier on you, but the best I found was slowl steady prying force in one of the few gaps you can actually fit something in to begin prying.
Zig