Put the car on 4 jack stands. Remove the negative battery cable. Use a 1/4 drive socket set and remove the wires to the starter. Then use a 3/8 drive socket set with various size extensions and remove the bolts holding the starter in place. After the bolts are removed remove the starter. Sometimes you might need a flexible socket.
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Even if you don't need them on this job if you do much work you will need them. A lot of places sell them.