It depends what the actual problem is. The most common issue is is contacts and plunger. However, if power is not getting to the starter solenoid, the issue could be upstream.
Have a read through this post:
The majority of "no crank" issues are from faulty or worn starter contacts.
If you turn the ignition to START and you hear a "clunk" from the starter, it means that the solenoid is pulling in. This verifies all the logic from the battery to the starter and points to the contacts for the solenoid. OEM replacement parts are available and inexpensive.
There are many many threads regarding rebuilding starters.
28226-66060 starter terminal (battery side)
28226-72010 starter terminal (motor side)
28235-54380 solenoid plunger
If there is no clunk or no voltage reaching the starter logic terminal...