A book like the CJ Haynes manual is a good one for these kinds of fixes. It goes over the tools and methods.
I use an old 3/4" I think it is socket to pound out the old joint and tap the new one in. There are circle clips that have to be pried out, I use a special pair of pliers for this or two mini screwdrivers.
Penetrating oil can help a Lot!
When you get the new joint, I recommend you also get new straps and bolts, they are cheap and the old straps will likely be stretched too bad to hold any more.
I also prefer the joints that can be greased, the non grease ones fail far too fast due to water contamination on the swampy trails I run on so they are basic garbage.
86/00 CJ7 Laredo, 33x9.5 BFG AT's, 'glass nose to tail in '00, 'New' frame,wires and plumbing in '09. Carter BBD Carbed 4.0 HO in '10. Some Canadian Bush Jeep Runs and Build Photos: http://mikeromainjeeptrips.shutterfly.com
(10 new albums added Sept 16/10)