You didn't specify on what vehicle. However, here's a link to Youtube where you can choose to watch a video:
rear axle removal YouTube
Rear axle removal is along the same lines on most vehicles.
Raise the car and put it on blocks.
Support the weight of the axle
Remove the propshaft
You have to disconnect the flexible brake hoses from the callipers.
Disconnect the shock absorbers where they connect to the axle casing.
Depending on the set up of the vehicle, you'll have to disconnect other items such as control arms and undo the bolts that connect the springs to the axle - this varies depending on the vehicle set up.
It is possible to remove an axle without having to remove the road wheels/brake rotors and callipers .. but again, this can depend on what sort of vehicle you have.
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