Considering that there are about seven joints in your vehicle, I'm going to guess that you mean a front axle joint? If so, put the wheels back on but remove the cotter pin from the axle end your are working on and remove the wheel center cap.
Once on the ground, put a socket on the axle nut and using a solid, non jointed breaker bar with a five foot pipe over the handle, break that nut free (torqued to 175 foot lbs...pretty tight)
Then remove that wheel, brake claiper and rotor. You will find three twelve point bolts behind the hub bearing. Break them free and spray the perimeter of the bearing with wd40 or other solvent. Using a 12 point socket that you can afford to throw away, put it on the bolts and hammer from the rear, alternating sides to drive the bearing out of the steering knuckle. Once it is free, remove the bolts all the way and the bearing will slide out. You can then remove the axle.(passenger side requires removal of control box on axle housing to get it out) You will find a "c" clip that retains the joint caps just inside near the rubber boot on each. they need to be pried out. Then, you can drive or press out the caps and remove it from the shaft.(or have a shop do that for you) Re-assembly of shaft into housing is the reverse of removal except that you will need to support and keep the axle centered as it goes into the gear carrier as there is a seal inside that can pop into the carrier if you drag the axle on the bottom...(Gear set needs to be removed if you do that to replace the seal). Removal of any of the joints is the same, regardless of location...only one that is a little more complicated is if you have a doubal cardan joint at the transfer case end of the front drive shaft.
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