loosen the screws that hold the bumper in place along the bottom and hope your hand fits. It's the only way I found to do it. I hope you have smaller hands than me cause it was a pita. I don't know who's idea it was to not be able to repair simple things like bulbs.
Edit...I should say remove the screws along the bottom of the bumper and around the wheel well. Loosening them won't help you much.