On one side of the glass there will be pieces of wood or plastic that have been nailed in to keep the glass in place. These pieces are called window stop. You will need to remove these pieces by prying them off with a small prybar or putty knife. Once removed, you can now take out the glass (or what's left of it). If it's square or rectangular, jot down the measurements and have a glass company or hardware store cut the glass for you. If it's an unusual shape, make a template out of cardboard and then have the glass cut to the shape of the template. Put the glass in the opening and renail the stop.
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Most often, there are capped screws around the inside frame of the glass that can be removed to take the frame off. That exposes the glass and allows you to remove/replace it.
From there you usually have to measure the glass/space and have a new piece cut, but some doors use more general sizes that can be found at stores such as Home Depot.
Contact a local glass company and get them to cut one for you.
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