Evacuate the system, make sure it is empty, but do NOT pull a vacuum on it.
Lift the car up, remove the lower shield.
Remove the two lower roll mount attachment bolts that screw to the transmission (right out in the open).
Roll the engine/trans assembly UP in the rear, so it comes DOWN in the front, you'll get about an inch or two. This helps with clearance.
Unplug the RCV on the bottom/rear part of the compressor.
Remove the snap ring.
Put a rag or something down, and some eye protection.
Pull the RCV out... it may take some twisting and prying... in extreme cases I have had to punch a hole in the little nubbin on the end to use as a pry point. This is why you do not put the system on a vacuum, as it makes it even harder to get out.
Once it comes out, lightly lube the o-rings on the new RCV with refrigerant oil, slide it in until it "pops" and bottoms into place, then put the snap ring back in. If the snap ring groove is not exposed, the RCV is not in far enough.
Put it all back together, pull a vacuum on it (longer is better, but normally ~15 min is plenty, the system should have only been "open" for a few seconds). Recharge with the proper amount (525 grams on most models).