I just did this a couple months ago and once you know how to do it and have the right tools, it is really easy. Here's the procedure.
1. Drill out the rubber part of the bushing with a 5/16ths bit as shown in this video.
https://www.youtube.com/watch?v=t3JfM_gbzkA It is VERY easy. if you walk the bit around as shown in the video. Now, the shell of the bushing might not come out as easy as shown in this video. I beat the hell out of my with a BFM and it wasn't coming out. See step 2 for how to get this out if the hammer doesn't make it come out easily.
2. Get a hack saw or sawzaw and cut the shell of the bushing. Be careful not to cut into the control arm itself, just cut enough that it gets through the shell of the bushing. Now hammer it out and it will come out very easily. I couldn't believe how easily mine came out once I cut the bushing shell and relieved the pressure.
3. Borrow a control arm bushing tool from your local parts store. Most will lend this tool out for 48 hours for no cost. It should look like a big C Clamp with some different pieces to it as shown here.
http://www.summitracing.com/parts/sps-40910?seid=srese1&gclid=CInNtZ_Fg74CFYZAMgod-lcAJA
4. If you're changing the bushing on a control arm (either front or rear ones) you'll need to fabricate something to go in between the arm where the bushing sets, otherwise the c clamp will try to collapse it. I just took a piece of 2 inch wide by 1/8 thick flat steel, cut it into a strip about 4 inches long and bent it into a half circle. Then I gently hammered it into place around the bushing, giving each side of the control arm support so it wouldn't collapse when I torqued down the c clamp.
5. Put the bushing in place with your hand, then put the C Clamp on it with the correct size pieces to press the bushing in place. Torque the C Clamp until the bushing is fully seated.
6. Remove the C Claip and hammer out your custom made spacer. You're all done!
The key things I learned that made this REALLY easy were step 1, 2 and 4. Step 1 and 2 make it really easy to get the bushing out, which can be a pain in the *ss if done the wrong way. This shouldn't require that you beat the hell out of the control arm and possibly damage it. Either it'll come right out, or you have to cut it, then it will come right out. Step 4 is essential to getting the new bushing in there correctly without damaging your control arm. If you follow these steps you should be able to change each bushing in about 15 minutes.