Here is how the rack and pinion is changed out correctly in the images below. The car will need to be aligned when completed and you will need to remove the tie rods from the spindles which a special tool is used for, and you will need a torque wrench as well. Check out the images (below). Please upload pictures or videos in your response of any problems so we can see what to help you with.
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.