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Yes there is a nut on the backside of the stud that the peg mounts to. The stud is also the shaft for the rear brake pedal. To get to the nut, take the master cylinder loose and the snap ring that holds the rear brake pedal on or the remove the pin from the brake pedal. Now, take the large nut below the peg and brake pedal shaft off and the other two bolts that hold the front sprocket cover on. Remove the cover and you can get to the nut.
get the correct size allen key,undo the footpeg bolt,remove bolt,pull peg out,be careful not to lose the spacers on each side of where the peg fits to the mounting point,and be sure to line the spacers correct the little holes go over the bearing on the peg to keep them snug when not in use,(rear peg only)rider peg s dont have this on them.
Unless they've changed something that I don't know about, simply remove the pegs that are on the bike now and replace them with whatever type of pegs you want.
Now, if your bike is equipped with forward controls and you are wishing to install a set of mid mount foot pegs, you will need to purchase the foot peg mounting pieces. You need to go to a dealership, look at the parts manuals, and order the parts you need from them. Or, you could look around at a swap meet and possibly find the parts you need used. By doing this, you would have both mid mount and forward controls. Just make sure there is no interference with any linkage for the rear brakes or shifting. I have not done this particular job on a Sportster but have done it on a Dyna Wide Glide once. Turned out nice but the control linkage is different on a Sportster.
the foot peg will have a pin going through it to attack it to the rear set and on the underside of the foot peg on the bottom of the pin there is a circlip this needs removing then you can tap the pin through removing the footpeg and return spring.