The rear doors should be easier to do vs the driver door as there aren't as many controls that you need to disconnect. Basically you will need a log rod (I used my 10 inch socket extension tool) to lodge the glass window from falling down to the bottom of the door. Then you can remove the whole assemby. I think if I remember, there are two bolts that hold on the shaft, and 3 bolts that hold down the motor assemby to the door frame. there should only be two bolts that hold the actual glass to the assembly. So I think 7 bolts total. The motor/regular/shaft is all one complete assembly. I think most bolts, you need a 10mm socket or +/- size and/or no #1 phillips.
If you never done this before, there is a link in this forum on how to change your door speakers with picture illustration, you can use these illustrations to assist you on how to remove the door trim to gain access to replace your power window assembly.