I attached the directions below related to the drive axle replacement. You indicated the passenger side. The directions indicate the same procedure for both the passenger and driver sides of the vehicle.
Take a look through the directions and let me know if you have questions.
Repair Safety Notice: This information is for general instructional purposes only. Vehicle repair can be dangerous. Verify all information, follow manufacturer service procedures, use proper tools and safety equipment, and consult a qualified repair shop when needed.