Really, this depends on the vehicle in question. Usually, it becomes obvious by looking at the vehicle with the wheel removed and a new part in plain sight. That in mind, if you know you need one you also know how to put it in. If you don't know how to do it, you also don't know that you need to do it.
Take the wheel off. Look in the center of the axle. There is a big nut in there with a cotter pin through it. Take out the cotter pin, and remove the nut. If it's a disc brake, the bearing will come out with the disc. If it's a drum, you can take it out by itself.answerhub bearings usually have to be pressed out of the hub/rotor/drum once they are removed from the vehicle.
You have to remove the entire wheel assembly to get to the hub bearing, take the old hub bearing out along with the race, pount the new race in, grease the new hub bearing, put that in, then reassemble. If you're not sure how to do this, either leave it to a pro, or buy yourself a Chilton or Haynes manual.
The ABS sensor is part of the hub wheel bearing assembly. The hub wheel bearing will have to be replaced. This involves removing the wheel, the hub axel nut and then three torx screws which attach the hub wheel bearing assembly to the steering knuckle. A puller tool will be neede to separate the hub bearing from the steering knuckle. If the hub bearing is heavily rusted to the steering knuckle you may need to heat the metal in order to loosen the rust connection.
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