Few other tips:
Newer and aftermarket half shafts could be longer than the one you have. I have had to remove to lower ball joint as well.
My version was a bit different than paulo's:
Loosen axle nut with 35mm or 36mm socket
Remove wheel
Remove caliper and hang to side
Remove tie rod end - 21mm or 22mm deep socket. Hard hits on the knuckle with a hammer should release tie rod after nut is removed
Remove upper ball joint - hard hits may work to release it after nut is removed. Tie rod puller (u-shaped device with center push bolt) may help too.
http://www.amazon.com/OTC-6296-Pitman-Arm-Puller/dp/B000KITTYU/ref=pd_cp_hi_2
Pull axle out from knuckle - compress the CV, bend and twist.
Pull axle out from diff - just needs a hard tug or two
I don't recall removing the lower shock bolt (even though I've done this five times. Maybe I removed it, just can't remember)
On inserting the half shaft, be sure the C-clip is with the open side facing downwards to minimize resistance on insertion
As mentioned, some half shafts can be put in w/o undoing lower ball joint, some can't. Difference is about 5mm length.
Axle seal - an axle seal puller from the auto parts store ($10) can make it a lot easier to remove.
http://www.amazon.com/Lisle-56750-S...&sr=8-2-fkmr0&keywords=lisle+axle+seal+puller
Inserting it - grease it up a bit to help insertion. A large socket and hammer can help seat it.
Spread some diff oil on axle to help slide it in. Be careful on sliding it in - those splines are sharp and can tear the seal. These axle seal protectors can help:
http://www.ebay.com/itm/Kent-Moore-..._Automotive_Tools&hash=item51b058d5ee&vxp=mtr
You won't need to replace or even top off the diff oil as a nominal amount will come out.
Do NOT use a pickle fork for the tie rod ends or the ball joints as you'll just tear up the rubber boots. It may help to spray penetrating oil on the boots, ends, etc. to help. We tore tie rod end boots once just because they were six years old and fused to the knuckle. Penetrating oil might have prevented that issue.
You don't need to purchase from these links - auto parts stores and Harbor Freight would be fine.