bob petrik,

Jack up Jeep, support with jack stands, remove rear wheels and brake drums

Remove diff cover

Remove cross shaft retaining bolt

Remove cross shaft

Push axle shafts in and remove C-clips from inner end

Gently slide axle shafts out of housing

Remove seals, being careful not to knock the rollers out of the bearings

Install new seals

Great information from here.

Here is a decent video about the procedure.