lock the wheel dead straight, with the car on jack stands d/s wheel off. pop the boot off the rack remove the 11 mm bolt, under the dash at the base of the column is another 11 mm bolt remove that, now you need to lower the rear of the sub frame, put a floor jack under the middle rear jack it up to hold it up, then back out the two rear frame mount bolts 18 mm. they are long bolts, so back em out a couple inches, then lower the jack so the frame comes down to the bolts, but let the jack carry the weight. pop both ends of the shaft off pull it out.
put the new shaft in the boot bolt it on the column, then pull it down to the rack's nub, and jack up the frame to the shaft end and wiggle it on, its a tight fit. will only fit on one way too. get the bolt back in the shaft then jack the frame all the way back up and tighten the frame bolts up. get the boot back on too.
if the shaft will not go on, have a helper unlock the steering wheel and turn it ever so slightly each way till it lines up and goes on. generally if nothing moved it should just go back on, but sh it happens, old one might have slop new one is tight and it will be off a bit.