The link Rob posted is mostly accurate with the exception of Step 2 to Step 4.
Don't do the outboard side first and don't use a screwdriver to pry the door off its mount. You're likely to damage the mounting tab or the trim that way and it's totally unnecessary.
At the top of the door are two stops. There's a convenient fingerhold for each of them. Pull the stops down to clear the dash panel and open the door past the stops. Continue swinging it down as far as you can, then yank the door off the hinges, inboard (left) side first. No tools, no fuss, no risk of mars.
2006 WK Laredo 4x4 4.7L
1993 ZJ Laredo 4x4 4.0L — Dead, sold, and rolling again