Well, if it's a gen1-2 loosen the lower pinch bolt and the bolt to the inner control arm bushing and replace the whole arm.
Gen3-4 I believe are pressed in. I haven't had to replace any of those yet so I'm really not 100% sure. If they are, you would still have to remove the pinch bolt and then probably use a BFH (big F**king hammer) to get it out. The easiest way to install those usually is a ball joint press, sometimes AutoZone rents them also.