Jack the front of the vehicle up, remove the tires, crack the nut on the tie rod loose but don't move it. Take the tie rod joint loose at the steering knuckle and hit the knuckle with a hammer to pop the tie rod out. Install the new tie rod end screwing it on the tie rod up to the nut, tighten the tie rod to the knuckle and then tighten the nut on the tie rod to the tie rod end. If the alignment was OK before the job it will be very close if you did not move the large nut. Tie rod ends cost $20 to $40 and take around 20 minutes a side to replace. It's not a hard job for a back yard mechanic.