found this posted in another thread. pretty much what valk is saying, but with pretty pics..
Toyota Maintenance: CV Axle Replacement on 3rd Generation 4Runners and Tacomas
also, for FJC toyota part numbers
43430-60060 cv shaft
90311-47012 left side axle seal
90311-47013 right side axle seal
04427-60080 cv boot kit (not required, but nice to have)