1. Lower the window.
2. Gently pry out the mirror switch (driver side) or blank piece (passenger side) with two tiny screwdrivers. Remove the Torx screw behind the switch.
3. Slide the door latch handle surround toward the front of the car to release it.
4. Using a door panel tool that looks like a big bent putty knife with a notch in the end, pull out the door panel at each of the clips around the bottom of the door panel.
5. Lift the door panel upward off of the rubber window trim. To re-install, remove the window trim from the door and install on the panel first.
Some of the plastic clips around the bottom of the door may break. It helps to have some on hand. Door panel tools are easy to find at auto parts stores.