1. remove tire/wheel. Open rear diff
2. remove differential pinion shaft (aka center pin) lock bolt (be prepared for possibility of it being broken. I've discussed this before search for it)
3. slide differential pinion shaft out (if you have 4.1 gears, the shaft will not come all the way out, but will slide out far enough)
4. push in axle shaft so you can access the above mentioned c-clips. remove c-clip.
5. axle shaft should slide out.
6. repeat 4&5 for other axle.