1.) Jack up the truck , remove wheel, please use jackstands for safety.

For the uppers..

2.) remove the pin on the top of the spindle ( acts as a pinch on the upper balljoint as well as a pin to hold it in ).
3.) remove the 2 long bolts going through the bushings where the arm meets the frame..
4.) pull out the upper arm.

Follow reverse instructions for putting the new one in.

Lowers..

2.) remove the cotter pin on the lower balljoint
3.) remove the nut on the lower baljoint.
4.) push down on the spindle till it comes off the lower balljoint. ( you might have to be creative in doing this. )
5.) use a balljoint type of tool to remove ( push out ) the balljoint.