If the axle hasn't been removed before, you will likely find that after removing the brakes and the bolts that hold the wheel bearing to the knuckle that the bearing will not come out easily, it will be likely seized to the knuckle. Attaching a slide hammer to the wheel studs will usually get it out but if you do this, do not remove the large nut in the middle that holds the axle to the hub or you can end up pulling the bearing apart. When removing this way, the hub and axle will come out together. The U-joints themselves are held in place with c-clips on the inside, usually under dirt and rust. There are other styles that use full circle clips that go on the outside which are stronger and easier to remove but also require axleshafts that are built for that style.
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