You will need to pull the axle to replace the seal, I usually do both sides due to the rear cover needing to be removed. Its not that high tech of a job, but its also a good time to inspect the axles and bearings, change your rear diff fluid, and take a look at the condition of the differential internal parts.
Everyone here can walk you through it, I say GO FOR IT!
Here is a Pic from the LMC catalog

Desert