take the tires off, and the hubs will fall right off. to get the wheel bearing nuts off, pull off the plastic auto hub parts around the lock nut, (there are two springs around it, etc) then use a magnet to pull out the locking pin, you may have to turn the lock nut slightly one way or another to relieve tension from the locking pin so that it slides out easily. once you do that you can unscrew the lock nut, then (provided you have removed the calipers) the rotor will slide off. be careful not to ruin the seal on the back when you slide it off/put it back on. after thats off, there a six 9/16" nuts that hold on the spindle, remove them and pull the spindle off (you may have to tap it on the side with a rubber mallet to get it loose.. do not use a hammer, rubber mallet only) once it's off the axle should pull out. but remember on the passenger side there is an added step, which is to remove the whole pumpkin IF you need to get the inner stub shaft out of the pumpkin (its held in with an internal c clip)
if you're still not sure what to do, i suggest buying a chiltons or whatever those books are which tell you the steps and have pictures etc. they can be really nice.