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You need to tell us what year car....it makes a difference.
For my 85, block the rear wheels, jack up the front end and support with JACK STANDS ...don't want to find you under the car days later. Disconnect the battery. ALWAYS REMOVE THE NEGATIVE CABLE FIRST. You do not have to remove the positive once the negative is removed. Disconnect the wires to the starter....be sure to label each wire where it came from...don't rely on memory...it will bury you. Unbolt the two bolts holding the starter in place. IT IS HEAVY so be prepared for the weight. After MUCH trial and error....a few cuss words you will snake out.
My suggestion would be to replace it with a mini-starter....lighter, easier to get in and out.
Other year cars will be different.......be forewarned.
Installation....reverse what you did to take it out.
+1 - but I was able to do it just driving it up on ramps. I also wrapped the starter in that heat blanket silver material. Got it at a race shop for a few $.