They're a bit involved, but not outrageously so:
Get the weight off the tires and remove the tire/wheels. Easy stuff.
Gotta start by removing the rear diff cover and draining the gear oil. Messy at best!! Let it drip for a while as you're doing the brakes
Remove the brake calipers and disks from the axle assembly. Once the disk is off, you can re-hang the caliper on it's bracket.
Inside the diff is a very large pin, about 1" around, has the pair of spider gears going around it. That large pin has a much smaller screw in pin holding it in place.
Unscrew the small pin, rotate the diff so you can just slide the large pin out the bottom and then remove the small pin followed by the large one.
DO NOT ROTATE THE DIFF WITH THE LARGE PIN OUT!!!! It's a PITA to get the spider gears back where they belong if you do.
I use a large "C" clamp to press the axle inwards clamping between the hub and brake caliper bracket. Once it's in far enought, you can reach into the diff and remove the "C" clip that keeps the axle from sliding out of the housing.
Repeat on the other axle.
With the axles out, you can use a slide hammer with a claw attachment to pull the bearings out of the housing.
Install the new bearings and seals, reinsert the axles.
Again, use a clamp if needed to get the axle in far enough to reinstall the "C" clip. Once in, push the axle back into place to retain the clip and repeat on the other axle.
With both axles in place, slide the large pin back into place, noting the alignment of the small pin. Use a bit of tread-lock on the small pin's threads and install/tighten the small pin.
Reinstall the rear cover, disks and wheels.
Personally, I prefer to remove the ABS sensor and pour in the correct amount of gear lube (and LSD additive if an LSD) in at the top, reinstall the abs sensor and you're done.