Jackstands can be expensive. 4 ton ones will hold it up, but the heavier ones are usually also taller.
As for step by step.
Disconnect the ground cable on the battery.
Okay, I joking about that step.
Jack up the rear axle, set the jackstands under the axle, and let the jack down so the weight is resting on the jackstands.
Clean off the dirt and grease from the axles housing around the cover. You don't have to be super thorough.
Set the drain pan under the center of the axle.
Remove 8 of the 10 bolts holding the diff cover on. Leave two at the top in, but loose.
Pop the cover loose with a screwdriver. The gear oil should start to drain out into the pan.
Wait till the flow slows down and take out the last two bolts.
Spray a can or two of brake cleaner into the differential. Start at the top and work your way down, trying to clean the old grease out of everything.
Spin the ring gear around till you can read the numbers stamped into the outer diameter of the ring gear. Take a picture of those numbers.
Use a gasket scraper to clean off the gasket area of the differential housing and of the cover.
Clean out the inside of the cover thoroughly.
Apply a bead of silicone to the cover, and put is in place on the differential housing.
Install the 10 bolts, and tighten them down.
Roll around to the front side of the axle housing. There should be a pipe plug screwed into the housing. Remove the pipe plug.
Fill the housing up with gear oil until it is level with the bottom of that hole.
Screw plug back in place.
Repeat this process on the front axle.
Martin