replace rear axle seal
remove right rear wheel axle
Jack up Jeep, support with jack stands, remove rear wheels and brake drums
Remove diff cover
Remove cross shaft retaining bolt
Remove cross shaft
Push axle shafts in and remove C-clips from inner end
Gently slide axle shafts out of housing
Remove seals, being careful not to knock the rollers out of the bearings
Install new seals
Great information from here.
Here is a decent video about the procedure.