The easiest way is to swap a complete new CV shaft in there. I bought the boots, clamps, and grease to do this fix my torn boots on my Tacoma. After reading my manual on the process and attempting it on one side I ended up just buying complete CV shafts and putting them in. I bought the boots, clamps, and grease from the dealership and finding the correct tool to get the clamp on was nearly impossible. I think the aftermarket clamps are different? I think I paid around $60 for a complete CV shaft from Advance Auto.
Here is a link for the factory service manual.
Toyota Tacoma/ 4Runner/ Tundra/ FJ Cruiser Factory Service Manual Page