After the fork oil is drained, remove the dust boot. Under the boot is the seal and the circlip that holds the seal in. Remove the circlip. You will then need the special tool called for in the manual to hold the inner tube so it won't spin when you are removing the allen bolt from the bottom of the fork........OR.........you can use an impact wrench and an air compressor, which has enough torque to zip the allen bolt off easily without the use of the special tool. Actually, that was my biggest influence when first buying my air compressor. If you don't have one you can take the fork to any garage and they will zip it off for you. Then, to get the inner and outer fork tubes apart, simply use them against each other. It is similar to using a bearing remover. Hold the fork horizontally, outer tube in one hand and inner in the other. Push them in softly and then out with a hard snapping motion. After they are apart remove the seal. There are also several bushings you need to slip off. Be careful not to scratch your forks when removing them and to clean all the parts well. Also, don't forget what order they go back in. After cleaned, replace all the bushings, new seal, circlip, and don't forget the dust boot. Make sure you put the seal on right side up (it can be a bit confusing when you are dealing with inverted forks). You will need a seal driver to put in the new seal. They can be expensive, so what I did for years is have it all ready to go and then went to my local dealer. They will be happy to either let you use the driver or do it for you, usually without any charge. Then put the circlip and dust boot on and tighten the bottom allen bolt with your impact wrench. You are now ready to fill your forks with oil.
Note: Inspect your bushings, as they can be a source of leakage.
Note: So as not to scratch your new seal, use a plastic bag or plastic wrap to cover the part of the fork that the bushings go on. That part of the fork has sharp edges and can damage your new seal if not done this way.
Note: After every ride make sure to put your bike on a stand and loosen the air bleed screw on the fork cap. This will release built up air pressure from riding, which, if not done, can cause your seals to leak.