What is the best way to change a lug bolt on front tire. I have one that is striped really bad and need to replace it.

Welcome to AF.

Best thing to do is install a complete new ABS Wheel Hub/Bearing Assembly since it will come with 5 new studs. You can buy a stud at Autozone and replace it DIY but you have to be careful not to damage the ABS wheel sensor located in the hub. Beating on it with a hammer, etc. may damage it. Getting the stud fitted and in won't be easy either. If you remove the hub an auto machine shop can press the old out and new in. Good luck.