You probably wont need all the steps, but this should give you an idea. From the factory service manual for removing the rear bumper (instructions are for complete tear down).
Removal
1. Disconnect the battery ground cable.
2. Remove the rear mud flaps.
Remove the four bolts.
3. Remove the protectors.
Remove the three clips on the right side and five
clips on the left side.
4. Remove the bumper brackets.
Remove the two nuts.
5. Remove the rear bumper supports.
Remove the nut and bolt.
6. Remove the rear bumper assembly(1).
Remove the two bolts(2) from each side.
7. Remove the rear center bumper.
Remove the ten clips from the step part and three
bolts from each upper and lower sides.
8. Remove the rear corner bumpers.
Remove the three bolts from each rear corner
bumper.
9. Remove the rear bumper slider brackets(1).
Remove the two screws(4) and two nuts(3), and
then remove claw caught in the washer(2).
10.Remove the backbers from the rear bumper
reinforcement assembly.
Remove the three bolts at each backber.