Idler and pitman arm

My idler and pitman are out and I was wondering if there is anyone who can kinda give me a play by play on how I would go about replacing them? I do know i need a pitman puller and my frind has one but I am still nex to steering work. I have a 2000 chevy S10 4X4....

Also I have this sound that comes from my truck when it's going straight or when the wheel is turned to the right. When I turn my wheel to the left the noise is completly gone? It sounds like an intense rubbing sound? It's truly very obnoxious! I was wondering if that also had something to do with replace my idler arm and pitman arm?

4x4, howleing sound... sorry to be the barror of bad news, but it sounds like a wheel bearing is shot, the 4 bys cannot get repaced you have to replace them