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It is not recommended to drive it like that. It's not too bad to replace but it depends on your level of mechanical skill, You need to remove the brake caliper and disc and then you can simply knock the remains of the broken stud out with a hammer and punch, To fit the new one insert the stud and then put a large nut over the thread, then fit the lug nut and tighten it to pull the stud into the hub, then simply remove the lug nut and put it all back together.
you don`t say if its front or rear lug nut(assuming you mean stud).remove the wheel and then the drum or rotor,then take a hammer and hit the broken stud to remove it from the hub assembly.with the correct wheel stud insert it through the hole and make sure its in straight,install the wheel nut and tighten the nut to pull the stud into the hub until all the way in.you may have to install washer on the stud and re-install the nut and tighten until the stud is seated all the way.
GO TO TIRE CENTER OR GARAGE THAT SALE TIRES AND DO BRAKE WORK.THEY WILL HAVE TOOLS TO REMOVE BROKEN STUD AND PRESS IN NEW TIRE STUDS.REASON TIRES STUDS BROKE TOO MUCH TORQUE WAS APPLIED TO BRAKE STUDS CAUSING THEM TO BREAK.COST TO FIX ABOUT $60.00
take off tire. remove old stud by hammering it out with a punch. put a socket behind axle plate so as not to break the plate. when replacing, just start stud from back by hand, then use a lug nut to pull it in tight. when tight replace tire!
Remove: wheel, brake caliper & rotor. Drive out the remaining stub with a hammer and punch. Insert a new stud and pull it into place by tightening the lug nut. Before running out of threads, remove the nut, insert a stack of washers or a large nut which slips over the threads without contacting them, tighten the lug nut to seat the stud.
Safely jack and support the vehicle,remove wheel and tire assembly,with a punch and ball peen hammer (and safety glasses) or just a hammer,carefully knock broken stud out of the hub,it will fall out the back.Now take new stud and spin the hub until you find a spot where it will insert into the hole from the backside.Start the stud through the hole from the backside of the hub.Now at this point,you are going to PULL the stud into the hub,but the threads must be protected from galling.I use Anti Seize compound and some flat washers.Liberally coat the threads of the new stud with anti seize compound to protect the threads,stack some flat washers on the stud,install the lug nut,and tighten by hand.The stud will pull into the hub some.Remove lug nut,and stack more washers on the stud,and repeat the tightening process.Repeat process until stud is fully seated.Now remove anti seize compound with brake cleaner or equivalent solvent.Reinstall wheel and tire,and call this job completed.Remember to rate this solution.Good luck.