Take a center punch, mark the pinion at 12:00 then mark the nut at 12:00, count how many threads from top of nut to end of pinion so you can get the nut back to the exact same spot for the bearing preload.
Spin the pinion yoke nut off, slide off the yoke. Replace the seal.
Check the yoke seal area and shine up with some fine emery cloth.
If badly rust pitted, think there is a slip on repair sleeve available at Rock Auto and other suppliers . . Dr Diff etc.