You have to pull the rear axles out to do the seals, Nate -- I presume you mean the axle seals and not the pinion seal?
Basically, jack up the rear, put in on stands, and take off the rear wheels. Take off the diff cover and drain, remove the retaining bolt from the center pin on the diff and remove the pin, push the axle inward and remove the c-clips -- then the axles slide out.
Pry out the seals, and carefully seat in the new ones using a suitable large socket or other tool. Not too hard -- just time consuming. Reassemble everything and refill the diff -- done. Put the wheels on, let 'er down and go!
Happy thanksgiving to you also! Hope you're doing well, haven't seen you in awhlie.