If you have small hands it can be done without having to take the front bumper off....you can get away with removing the headlight housing bolts mentioned previously by BC, wiggle it forward and 3 point turn the bulb w/holder through the side fender. Only other alternative is to remove the front bumper (which is literally a 10 min job). Some prefer to remove the bumper as it gives you miles of room to work and less of a chance to scratch the bumper when you're moving the housing forward.

There's a bumper removal guide by TwinsPoppa that will guide you how to remove the bumper.

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