This all depends on what transmission you have. There were two options for this engine so I am going to include both processes and info.
Here are a couple guides that will help with general info and a video that shows how to do this on an F-150. Clearly it is slightly different but same basic steps.
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.