I have done it by removing the entire fork tube from triple tree, and by removing just the lower tube. Its easier to remove the whole fork tube and proceed on a workbench, IMHO. There should be a write up in the "lieberry" section...essentially you drain oil first, loosen the lower allen/head connecting bolt up inside the tube, (so it doesnt spin, before you take the fork off bike...or carefully use bench vise), not sure, but you may need to take apart the top of of the fork to release the spring next, remove the circlip/retaining spring above the actual seal (its difficult to replace back on), and carefully pull apart...examine the fork bushings, they may need replaced as well while your in there.
Check for a better write up, this is just the basic idea...its kinda messy, and a bit of trouble. Use OEM seals...not cheap Ebay ones, they won't fit with the circlip above (too thick). Youtube has some fork maintenance videos as well, most forks are similar.
....i have done both seals and bushings, installed gaiters, and once a year take a thin feeler guage, and carefully slide under actual seal removing gunk, and change fork oil...no leaks or problems since. I also tried 10w oil, and didn't like, went back to 7.5w.
