Jack up the car and put it on jack stands, or use a lift where avilable. Then take the wheel off. You'll see the ball joint at the end of the tie rod. There should be a locknut or nut holding the ball joint on. Loosen it and then loosen the jamnut on the tierod it self. Enough so you can take the outer tierod off (balljoint to jamnut). Take the outer off by unscrewing it from the inner. Then take the jamnut off and remove the clip holding the dust boot on (rubber cover over the inner). After this remove the dust cover by sliding it off the end. The inner is screwed into the steering system, and has to be unscrewed. The end of it should have 2 indents in it for a special inner tierod tool but if not you'll have to muscle it off with some visegrips or pliers. After you get it off install the new one and reverse the steps. After installed make sure you take it to get the vehicle aligned.
http://300zx-twinturbo.com/cgi...al=98
Inner tierod tool -
http://www.menintools.com/lisle/susptierod3.html
Anyway I hope this information helps.