Replacing a half shaft on 2004 Lexus RX330

How do you replace the cv half shaft to a 2004 lexus rx 330? How do you take it out of the transmission?

Asked by for the 2004 Lexus RX330
There will be removal instructions in this on line repair manual site:
So I recommend that you get a repair manual if your going to work on your own vehicle. It's real easy now that they're available online. To be better prepared when working on your vehicle, read up on the job you're about to perform, it will show you component locations, bolt torque settings and what special tools you'll need. There are also technician tips related to your specific vehicle.
Try and you can have one in minutes, for less than $30.00.