Drain the oil, remove the driveshaft, remove the old seal...
Clean up the housing and using a flat object (such as a 1/2 " Extension) hammer in the new seal till it sits flush in the housing... Make sure to only apply pressure to the outside of the seal, hitting the inner edge will stuff the seal...
Once thats in, refit the driveshaft, fill up with new oil and you're good to go