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Remove the license plate. Remove the backup lamp assembly. Reach in behind the tail lamp and remove the two 10mm nuts holding the inboard lamp assembly to the rear facia. Remove the bulb housing. Reach thru the inboard lamp hole and remove the two nuts on the outboard lamp assembly.
I would remove all four tail lamp housings and replace the bulbs with Sylvania "Long Life" 1157 bulbs. The factory bulb sockets will have a dried up dielectric grease in there that will most likely break the glass part of the old bulb. Remove the bulb and scrape out all of the old yellowed grease and clean the contacts at the base of the socket. Apply a thin film of new dielectric grease (Permatex makes a small tube that works fine) and install the new bulbs.