Can't help with the lower, but replacing the upper bearing is done with the column in place. Lift off the steel support collar, there's a snap ring underneath. Use a pick or a pair of snapring pliers and remove that. The bearing is pressed in; you need to pry the plastic inner out about 1/16" and then you can get something behind the metal flange on the bearing to remove it.

The new one just pushes in; tap it with a punch evenly around the perimeter to seat it. Lubricate the new one with something before installing it - I use TriFlow foam.

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12 E70 3.5i xDrive
03 E46 330i ZHP
01 E53 3.0i
98 E36 323is
12 Audi A4 Quattro
79 Triumph Spitfire
73 MGB