First you must mark the position of the big nut with a small chisel so you can get it back the same as it now is. Count the number of threads showing beyond the face of the nut. Remove driveshaft and lock the yoke in place using a big pipe wrench or something similar with a pipe over the end wedged against the ground or truck frame. Use an air gun if possible to loosen the nut. A breaker bar and cheater pipe may also be used. Remove yoke with drain pan underneath to catch fluid. Carefully pry old seal out (there are special tools made for this, but a big screwdriver will work if you are careful not to damage the area the seal rides in. Put some gear oil or grease inside the lip of the new seal and install it using a seal driver or big socket being carefull not to damage seal. Clean yoke and reinstall. Put some RTVunder big washer to prevent leaks and reinstall nut. Tighten it untill same # of threads show as when begun and marks you made with chisel line up. Top up fluid lost, reinstall driveshaft and done. One other thing, I usually mark the driveshaft and yoke to put them back as they were lined up.
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