It's a simple enough mechanical procedure but access is tight and is best done with the shaft on the bench. There are six Allen headed bolts on the inner CV with three locking tabs behind. Initially you can release the bolts as there is a step in the flange stopping the nuts rotating but you'll need a spanned eventually. If you can remove the staked outer CV nut the shaft can be removed easily enough. I'd recommend this route as, with the shaft on the bench, it's a simple job to clean it and replace the outer boot too, cleaning old grease out is a messy task but doing it and replacing with new should be a routine service job every 5-10 years!. The inner CV is held on with a simple circlip which will be covered in grease! If you're doing this job yourself please ensure that the car is safely supported on axle stands before getting underneath it.
Guy