Ok start by removing the four bolts holding the drive shaft to the yoke flange. You'll need a t40 torx socket for this
Mark the drive shaft and flange so you can install the drive shaft back in the same position.
Tie the drive line out of the way. Using a 1 1/4" socket, remove the yoke nut and washer
You may need a puller to get the yoke off the splines of the pinion. (Camera somehow magically got set on black and white
Pull the old seal out with a seal puller or a slide hammer
Clean up all sealing surfaces with scotchbrite or emery cloth. Install new seal into axle housing with a seal installer. I like to use loctite 640 sleeve retainer on the outside of the seal to help with install and sealing.
Back to black and white for dramatic affect
Install yoke onto splines, use a little rtv silicone on the backside of the washer to seal the splines. Torque pinion nut to 200ft lbs. This will get you close to the correct bearing preload.
Install front drive shaft lining up your marks. Torque bolts to 21ft lbs with loctite 242 red