DIY for replace center support bearing?

Can someone tell me how to diy to replace the center support bearing for a 2004 Toyota Tacoma?

This link describes how to remove, inspect and replace the propeller shaft. Look under propeller shaft. It may require some tools that you do not have, so you may need to use a machine shop or other outside source to pull off the old bearing and install the new.

http://www.ncttora.com/fsm/2003/index.html#Repair_Manual_Volume_2

Clifton