Easy as pie.
The shops around here are a ripoff and they never do the job right. Plus the worst part, actually removing the wheel, you already do for them (assuming of course you would rather die by fire than give them your whole bike).
You already see the mar parnes setup posted above by rad. Get it. Plus grab a pile of weights and a bunch of valve stems.
Now you need 2 or 3 tire irons. I like the 10" motion pro spoons. here:
linky
cheaper elsewhere though
Now get four 2X4s like so:
linky
I use a stair lip rather than my truck
Now get some plastic rim savers (i use 3) if you care about your wheels getting nicked:
linky
cheaper elsewhere though:
Grab a valve core tool for a buck on eBay.
linky
Get some dish soap and some water.
Pop the bead all around, both sides, as shown above.
Grease it up.
pop on the rim savers.
pry up some of the first bead with the spoons.
pull the rest up and off.
pull the second bead up and off (may not even need tools for all but the very first part)
cut of the valve stem
pop in a new one.
Grab your new tire.
grease it up
squish the first bead on using your knees and palms. (might go on without tools)
finesse the tire so the lower bead is in the deep part of the wheel to give you the most slack (remeber those short 2X4s?)
press on the top bead on as much as you can by hand.
pry the last bit on.
Fill it with air. Listen for two pops.
Fill it to spec.
Use the Marc parnes balancer on two jack stands to balance it.
Took me a bit to balance it perfect the first time, will get faster with time.
I will never go back to a shop.
Good Luck!
(disclaimer: this does NOT work with your truck tires, ask me how I know)