Note:
The procedure should be exactly
the same as shown for all '96-'02 SC models, but is likely
similar for other S-Series models as well.
Needed:
Tools:
T27 Torx bit
T15 Torx bit or
screwdriver
Ratchet
Socket extension
Flat-head screwdriver
(recommended) Rag
Removal
Step 1:
Remove triangle
trim piece.
Step 2:
Remove
outside mirror. It hangs over the door panel a
little, so it's gotta come off.
Step 3:
Remove door
handle.
Step 4: Remove 10 torx
screws. They will be in tight, so you'll need the
leverage of a ratchet most likely. I was not able to
loosen mine with a torx screwdriver. You'll need a T27
torx bit, and an extension helps a lot for the 2 at the
front end of the door.

Step 5: Remove small torx
screw. Use the T15 socket or screwdriver.

Step 6: Remove trim end
piece. You can probably pop it out with your
fingers. If not, use a flat-head screwdriver.

Step 6: Remove trim.
Just pry it up bit by bit with a screwdriver. I
recommend putting a rag over the end to prevent scratching
your paint.

Picture does not reflect the progress you should have made
by this point.
Step 7: Remove panel.
Close the door and wiggle it off. You're done!
To access just about anything in the door, just peel back
part of the black covering.

Installation
Installation is pretty much the
reverse of removal. When you put the door panel on, be
sure to line up the lock with the lock hole. When I
first reattached the panel on my car, the lock pushed the
black ring partially out, and I had to remove the panel
again.