It's simple but there isn't a lot of room for your hands. There's a cap and rubber seal on the back of the DRL housing that opens with about 1/4 turn. Then the bulb socket unscrews from the housing, also with 1/4 turn. You can see how it latches in from the front.
The bulb sits in a bayonet style socket. Push in and turn and it pops right out. Pop in the LED bulb and place it back into the housing. You can look in from the front of the light to make sure you are lining things up. Make sure you don't damage any LEDs when you're putting it back in the housing.
The passenger side has a bit more room so do that one first so you see how it's done. There are some wiring harnesses and a bit of the frame that get in the way on the driver side, but just be patient. I used some needle-nose vice grips (didn't clamp, just used to get leverage on the socket) to start the bulb turning to get it out. I managed to install it with my hand though.
Make sure you get the rear caps and rubber seals on correctly. They'll just fall off if you don't so you'll know when they're on right. You basically have to do everything by feel since you can't see much.
Takes 30 minutes if you're patient. Maybe less if you're especially coordinated.
