1. The Hard Way:
Put a drain pan under the diff. Unbolt the cover, starting from the bottom bolt, and work your way up, side to side. Eventually the lube will run out, create a mess, and you will look like Al Jolson in "The Jazz Singer". Dry it out as best you can, letting it drip overnight is better, clean the mounting surfaces, coat with Permatex. Bolt the cover back on, let the Permatex cure, and fill the diff up to the drain hole. Then leave a piece of cardboard on your garage floor because it will probably leak.
2. The Easy Way:
Got to the Valvoline Qwicky-Lube, they will suck the old lube out with a suction pump and refill it for about $45. Then drive home and have a beer.
Other Info:
* The suction pump method is really the only way to do the front diff on a 4x4 anyway.
* The rear diff cover on a late-model Explorer with IRS will bolt on to an older 8.8" diff. Just grind off the mounting ears on the side. It is finned aluminum and has both drain and fill plugs. If you can find one in a junkyard it makes things much easier the next time.