On the pedal side, remove the cotter pin and pin that connects the arm of the shaft to the pedal assembly.
On the trans side, disconnect the shaft from the ears of the internal cross-shaft.
Push the shaft toward the frame to depress the springs on the ball joint, move the shaft to clear the ears and catch the 2 piece bushings that surround the ball joint on the frame.
Easier to do than explain. Just pay attention to how it comes apart and you'll be good.