I have not done this on mine yet, but I assume it would require removing the axle bolt, removing the tire, disconnecting the lower control arm/ball joint from the knuckle so you can get more room to remove the axle and then using a pickle fork or something to pop the axle out from the transmission. The driver side will probably be somewhat difficult to remove but should pop out. Then you'd need to install the new axle basically in reverse order.
This is a video for a P1, but it probably isn't that far off from what we should expect on an XC60:
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I think it's completely doable on your own, I did it on my S40 pretty easily and will do it when it's needed on my XC60 as well.