1. Remove the two (or maybe 3) small screws at the very bottom of the door panel.
2. The piece with the window/lock switch buttons pries out by putting your fingertips between the top edge and the panel itself and pulling back and over away from the panel.
3. Once that's loose, the piece below that that goes around the door handle pops out. Set aside.
Unplug the piece with the switches and set aside.
4. There is now one more screw behind those pieces you just removed. Take it out.
5. Now lift up on the panel and it will slide up about an inch and then come off. On the driver's side you will still have a plug to undo where the power mirrors hook up to the switch.
I've done it a hundred times, but it's been a few months. You may have to reverse steps 2 and 3. Those pieces snap into the door and hold onto each other. Without being down in my truck right this second I cannot be sure which one loosens up first, but it should be obvious once you get started.
Just remember - once you have the screws and those two pieces removed, be sure to lift up on the panel. It doesn't just "pop out" like a lot of other panels.