provided there are no surprises with the 2004 like it uses rivets instead of bolts...
you will take two bolts off at the control arm, and the nut off the joint. separating the joint from the spindle first, giving you the control arm to "pry" with.
the slide the new one in onto the old bolt marks (if you dont know how to do that then draw circles around the heads of the bolts on control arm (before you take the old one off) and use your own markings to align the new joint to where the old on was..
even with rivets, if thats the case you can grind, cut, etc them off then the replacement joint will bolt in.
taking the brake disk off the spindle helps to see what you are doing, but is not necessary. it only takes a few minutes though.