Caliper off, disc/hub assembly off, then stub axle. The driveshaft will then just pull out. The CV joint is only held on by a C-clip on the end of the main length of shaft, so a sharp whack on the back of the joint should see it pop off. Of course - you might end-up belting the hell out of it, but it'll come off eventually! The new CV joint usually comes with a new clip.
Les.