I looked up online how to do this and got two decent resources - one is a video and one is a text description.
Unfortunately the video does not show what I have in my car. My car has some kind of rubber housing over a large part of the assembly. I could not figure out how to remove the rubber boot. (I did get the electrical connector off the back though)
the text description has no pictures and seems to be either contradictory or is skipping steps.
Any suggestions or a better resource?