Replacing rear wheel bearings (how)?

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'15 6, '06 5
Looking at the online parts suppliers, it looks like rear wheel bearings are sold as a hub/bearing assembly. Has anyone replaced one of these themselves? How is the job?
 
Its covered under warranty if its under 36k miles.
 
True (50k miles for us on the '06 :) ), but the dealer's a long ways away and the bearing/hub assy is only ~$40-45. That means the fuel alone to get there and back costs nearly as much as the part.

EDIT: Wait a minute! I had the wrong part pulled up. The hub/bearing assy is $130! OK, so I guess we'll arrange to take it in...
 
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