If I can remember all the steps:
1) Use tie rod end puller (borrowed from AZ) to pop the outer tie rod off - then, count the turns as you unscrew it from the inner so you can reinstall the new inner to approximately the same position.
2) Carefully loosen the clamp on the dust boot on the end of the rack and slide the boot off.
3) Use a chisel to knock the rivet off thats locking the inner onto the rack.
4) I just used an adjustable wrench (though AZ has an inner tie rod tool you can borrow at the same time you get the tie rod end puller) to loosen the large nut holding the inner onto the rack and remove the inner tie rod.
5) Lube the new inner and screw it onto the rack. I think there's a small allen head screw to lock it on.
6) Slide the dust boot back onto the rack and tighten the clamp.
7) Screw the outer back onto the inner at approximately the same position and reinstall the outer.
You should consider an alignment. I only replaced the inner that was bad. Then, a few months later the other inner needed replacing. You may as well go ahead and replace both even if only one is bad as there is no need to pay for two alignments. I also did the outers just so I wouldn't have to do it all over again for a third time.