depends on which rims you have.
steel rims can do it with wheels on, alloys will have to come off.
centre of wheel is a domed cap. remove this, and the 5 bolts round circular steel bit.
remove split pin from end of shaft in middle, (might be a pin with a clip round small shaft).
remove nut.
remove circular steel bit (drive flange).
repeat for other side.
remove prop.
drive long enough to confirm if noise is presant or not.
reassemble using new gaskets, and cleaning gasket faces up first.
if noise has gone, these will have to be stripped further to get diff out.
if your not confident, your gonna need help, or a garage.
note- removing drive flanges will expose wheel bearings to road ****, dont leave it like that. you may also gat some oil come out too.