Changing the joint in the drive shaft ?

I second what 67dart273 said.

Assuming it is a 67 dart 273 automatic.
This is what I would do...

Remove the shaft from the car.
Remove the zerk
Remove the c clip
Use a socket a little smaller than the ID of the cup.
and another larger than the ID
Put one socket on one side and one on the other.
Use a c clamp to press one of the cups out.
Do the same for the other cup.
Watch for getting things cocked sideways.

Another approach is to get out your FSM and read the procedure there. Most likely they will refrence a special tool