Easy.. Support the car under the lower arm with a stand. Remove spindle assembly from car. Pound the joint out.
To put it in, stuff the joint back under the arm in its hole. Lift it slightly with a floor jack on the joint,use a wood block to keep from deforming the joint. Lift the cars weight onto it, then pound the control arm down to push the joint through it.
OR go to adavanced and rent the correct tool. A ball joint press is really the right way.
Lots of guys wont rent the tool or dont have local axcess to tools like that, which would be the only reason I described how to do it with the floor jack and a hammer. If you are not careful you can mess things up pretty bad.
I put many in with a floor jack and a hammer, but that is just me.
Fact is stranger than Fiction