I haven't done this on my Bronco, but according to the Service Manual;
Using Tool T50T-100-A and T83T-1225 insert into the bore and positioning it behind the bearing so the tangs engage the bearing outer race. Remove the bearing ans seal as a unit using a slide hammer tool.
Insertion - lubricate the new bearing with rear axle lubricant and install the bearing into the housing bore using tool T83T-1225-B.
Pack the lips of the seal with Multi-purpose long life lubricant C1AZ-19590-B or equivalent and install the seal using tool T83T-1175-A.
CAUTION: Installation of the bearing or seal assembly without the proper tool may result in an early bearing or seal failure. If the steal becomes cocked in the bore during installation, remove it and install a new one.
(Those tool numbers amount to a seal removal tool, slide hammer and two sizes of an insertion tool)
Hope that helps.
Oh yah, you have to remove the drive shaft first of course.