I am trying to replace the upper and lower ball joints on my truck, and the repair manual I purchased tells me to remove the control arms and take them to a service shop and have it done. How can I do this myself?

Lower you can do fairly easy. Upper, a bit tougher.For the upper you will need a spring compressor.

UPPER CONTROL ARM:

Do not disassemble the upper arm. If the ball joint or bushings are faulty, or the upper arm is damaged, the entire upper arm must be replaced.

1. Raise and support the vehicle safely.
2. Remove the front wheels. Support the lower control arm assembly with a floor jack.
3. Separate the upper ball joint from the steering knuckle using a ball joint separator tool.
4. Remove the self-locking nuts from the upper arm anchor bolts. Remove the upper arm from the vehicle.

Do not disassemble the upper arm. If the ball joint or bushings are faulty, or the upper arm is damaged, the entire upper arm must be replaced.

Remove the brake caliper by removing the two bolts that connect it to the steering knuckle. Remove the lower ball joint cotter pin and retaining nut. Pry the steering knuckle up and away from the lower ball joint. Unscrew the grease fitting from the bottom of the lower control arm. Press the lower ball joint out of the control arm using a ball joint remover set.
Press the lower ball joint into the control arm using a ball joint installation tool. Remove the block of wood supporting the upper control arm. Install a new cotter pin through the ball joint stud.Install the grease fitting on the bottom of the ball joint. Use a c-clamp to push the piston back into the brake caliper. Reinstall the wheel assembly. Here you can find the quality parts http://www.buyautoparts.com/steering_system.htm

REMOVAL AND INSTALLATION Upper ball joints are not replaceable. The upper ball joint is part of the upper control arm bushing joint and is not serviced separately. If the upper ball joints are found to be defective, the entire upper control arm bushing joint assembly must be replaced. Lower Ball Joint INSPECTION

1. Support the vehicle in normal driving position with ball joints loaded.
2. Wipe the grease fitting and checking surface, so they are free of dirt and grease. The checking surface is the round boss into which the grease fitting is threaded.
3. The checking surface should project outside the cover. If the checking surface is inside the cover, replace the lower arm assembly.

A Ball Joint Can Usually Be Replaced Without Removing The Control Arm From The Vehicle. Place The Vehicle On Jack Stands. Remove The Shock Absorber And Install A Spring Compressor on The Coil Spring.Remove The Nut Securing The Ball Joint To The steering Knuckle And Separate The Knuckle And Then Joint. The Ball Joint Should Be Pressed,Riveted,Bolted,Or Screwed Into The Control Arm.A Service Manual Will Give The Details For The Specific Make And Model Vehicle.

It depends on exactly which ball joint of the 3 per side your changing, but here are the details.

COMPRESSION LOWER ARM & LATERAL LOWER ARM ASSEMBLIES
Removal
1. Loosen compression lower arm ball joint nut. Using steering linkage puller, separate ball joint and
knuckle. Remove nut, bolts and compression lower arm assembly. Remove dust cover.
2. Remove stay. Remove shock absorber lower mounting bolt. Loosen lateral lower arm ball
joint and knuckle nut. Using steering linkage puller, separate ball joint and knuckle. Remove nut, bolt and
lateral lower arm assembly. Remove dust cover.
Inspection
Using preload socket, ensure breakaway torque for compression lower arm ball joint is 4-22 INCH lbs. (0.5-2.5
N.m) for 2000 models. On 2001 models, breakaway torque is 22-54 INCH lbs. (2.5-6.1 N.m). Ensure
breakaway torque for compression lateral lower arm ball joint is 13 INCH lbs. (1.5 N.m). Check compression
lower arm, lateral lower arm, dust covers, and bushings for damage and wear.
Installation
To install, reverse removal procedure. Use NEW ball joint nuts. Lubricate lip and inside of dust cover with
multipurpose lubricant. Using installer, install dust cover. Check front wheel alignment.
UPPER ARM ASSEMBLY
Removal
Using steering linkage puller, loosen upper arm ball joint and knuckle nut. Remove self-locking nut. Remove upper arm and upper arm shaft assembly. Remove dust cover.
Inspection
Using preload socket, ensure breakaway torque for upper arm ball joint is 3-13 INCH lbs. (0.3-1.5 N.m).
Replace upper arm assembly when measured value exceeds specification. Check upper arm, dust cover, and
bushings for damage and wear.
Installation
1. To install, reverse removal procedure. Use NEW self-locking nuts. Lubricate lip and inside of dust cover
with multipurpose lubricant. Using Ball Joint Installer (MB990800), install dust cover.
2. Ensure upper arm shaft assembly is installed at indicated angle. Verify upper arm shaft
assembly installation. Check front wheel alignment.

Once you have the correct arm off and a replacement joint (if available, some are not serviceable and require the arm to be replaced) then you will need a press or a ball joint press to change the joint. Such as
http://www.harborfreight.com/cpi/ctaf/displayitem.taf?Itemnumber=38335

http://www.harborfreight.com/cpi/ctaf/displayitem.taf?Itemnumber=46389

http://www.harborfreight.com/cpi/ctaf/displayitem.taf?Itemnumber=66958

or http://www.harborfreight.com/cpi/ctaf/displayitem.taf?Itemnumber=46967

Removal & Installation NOTE This procedure requires the use of the following special tools: J 9519-E Lower Ball Joint Remover and Installer, J 34874 Booster Seal Remover/Installer, J 41435 Ball Joint Installer, J 45105-1 Ball Joint Flaring Adapter and J 45105-2 Receiver.

1. On 4WD vehicles, remove the wheel center cap and drive axle nut.
   
2. Raise and support the vehicle.
   
3. Remove or disconnect the following:
   
   • Tire and wheel
     
   • Wheel hub and bearing, if necessary
     
   • Outer tie rod retaining nut
     
   • Out tie rod from the steering knuckle using a suitable puller
     
   • Brake hose bracket retaining bolts and bracket
     
   • Upper control arm-to-steering knuckle pinch bolt and nut
     
   • Upper control arm from the steering knuckle
     
   • Lower ball joint retaining nut
     
   • Steering knuckle from the lower control arm using a suitable ball joint removal tool
     
   • Steering knuckle from the vehicle
     
   • Lower ball joint flange with a chisel
     
4. Install tools J 9519-E and J 34874 to the lower ball joint, then use those tools to remove the lower ball joint from the lower control arm.
   

To install:

1. Install or connect the following:
   
   • Lower ball joint to the lower control arm, using tools J 9519-E, J 41435 and J 45105-2
     
2. Remove the tools from the lower control arm.
   
   • Tools J 9519-E and J 45105-1 to the lower ball joint
     
3. Flare the lower ball joint flange with J 9519-E and J 45105-1, then remove the tools from the lower ball joint.
   
   • Steering knuckle to the lower control arm
     
   • Lower ball joint retaining nut and tighten to 81 ft. lbs. (110 Nm)
     
   • Upper control arm to the steering knuckle
     
   • Upper control arm pinch bolt and nut and tighten to 30 ft. lbs. (41 Nm)
     
   • Brake hose bracket to the steering knuckle
     
   • Brake hose bracket retaining nuts and tighten to 7 ft. lbs. (10 Nm)
     
   • Outer tie rod to the steering knuckle
     
   • Outer tie rod retaining nut and tighten to 33 ft. lbs. (45 Nm)
     
   • Wheel hub and bearing, if removed
     
   • Tire and wheel
     
4. Lower the vehicle
   
   • Drive axle nut, if 4WD, and tighten to 103 ft. lbs. (140 Nm)
     
   • Wheel center cap, if removed
     
5. Check the front wheel alignment.
   

THE LOWER BALL JOINTS ARE A VERY TIGHT PRESS FIT INTO THE ARM, YOU NEED TO BUY A BALL JOINT PRESS KIT TO REMOVE THEM, BUT BASED ON MY PAST EXPERIENCE IT IS BEST TO JUST REMOVE THE LOWER CONTROL ARM AND HAVE A MACHINE SHOP PRESS THEM OUT AND THE NEW ONES IN, IT IS VERY EASY TO DISTORT AND RUIN THE CONTROL ARM DOING AN "ON THE CAR REPLACEMENT", THE BALL JOINT PRESS KIT RUNS ABOUT $50-$200 DEPENDING ON THE MAKER AND THE QUALITY, TRY WWW.HARBORFRIEGHT.COM TOOLS FOR AN ENTRY LEVEL KIT.

comes as lower control arm assmbly

its easier to get the whole control arm and the lower one has to be pressed in. it is not and easy job if you dont have the right tools checkout rockauto.com to look at the replacement parts and to get a price on them