Begin by lifting the car to the desired height then remove the lug nuts for the rear wheels and remove the wheels. Remove the lower strut retaining nut from the bolt and use a punch and hammer to dislodge the lower strut bolt from the bracket on the knuckle. Remove the three upper strut retaining nuts from the top of the strut tower. Repeat the procedure for the other strut. It is also advisable to contact your nearest Toyota dealer for specialized car service. Check out http://www.ehow.com/how_5068658_change-toyota-tacoma-wheel-drives.html to see more.
You really need to ask a mechanic about something as complex as this. Simple automotive questions can be answered here, but directions as complex as replacing struts need to be asked of professionals to ensure the work is done properly and the vehicle is road safe. Also, we only get 1200 words for answers here. If someone could put the instructions down, they'd be the cribnotes version - again, not the safest way to get directions on how to do this. Places like Checker Auto (I think it's been bought out & renamed) or Pep Boys should be able to help you - many associates are ASE certified mechanics. Or buy a Chiltons (this may be spelt wrong) manual for your car. Again, carried at any automotive store. Mine is my bible for my car.