Most rear differentials, it's a drain and refill operation.
SOME differentials have a drain plug, but others have ONLY a fill plug.
If yours doesn't have a drain plug, then you need to suck the old fluid out, with suction/transfer pump:
http://www.harborfreight.com/gear-oil-and-fluid-pump-61746.html
You can also use this to refill with the new fluid.
Most rear ends are filled to the bottom of the fill plug hole.
If you overfill, just let it overflow/drain until it stops dripping.
Now, different differentials require different fluids, so check what you need.
It might be in the owner's manual.
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