windoes come lose from the moter. how do i put it back on 2004 Toyota Highlander

it started with the rear driver side. I pressed the down button and it opened half way. could not get it to close. had to push it up and wege it in place. now the other side is lose from the moter i guess. how do you fix this problem. how do you remove the door paneln with out screwing it up?

Asked by for the 2004 Toyota Highlander
Looks like a window regulator problem.
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