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Properly support vehicle with wheels off.
Remove rear differential cover and properly dispose of differential oil.
There are "C clips" holding axles into gears in differential housing (1 C clip per axle), remove them.
Remove brakes and anything else that obstructs removal of axle on sides of vehicle where wheels go.
Pull out axles.
Pull out axle seals, be prepared to catch more waste oil, you may need to use a special puller to get them out, but it is possible to do with basic hand tools (they are the things that hold the rubber part that contacts axle).
Install new seals, you may do so by placing seals where they are to be installed then place a peice of wood on them and tap them into place with a hammer (hammer strikes wood).
Get proper type and amount of axle gear oil.
Use your finger to swab some oil on the rubber where the axles will contact.
Install parts in reverse order of removal.
When installing differential cover make sure mating surfaces are clean, install new differential cover gasket (no sealent is required), and do NOT overtighten differential cover bolts!
Add differential fluid to proper level (level of filler hole).
Ensure there are no leaks and you are finished!
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