Scott,
It is pretty simple. Remove the door panel (look for a project on changing the front speakers that will help you on removing the door panel). Once that is off, locate to motor. Remove the glass from the trac and slide it out the top. Remove the bolts or screws to remove the motor mechanism.
Have you identified the problem? Are you getting power to the motor? If not, replacing the motor will not fix anything. If a lamp doesn't work, you check the plug before changing the bulb.
Don't do an R&R (Remove and Replace) without making sure you know what the problem is.
Tom