Assuming this is for an FJ60... Grab the glass on both sides with the door open and push to the top.
Regulators are not bad. Remove door panel, peel back plastic to access the sheet metal openings at the bottom, undo bolts that holds window glass to regulator, secure window glass in door, unbolt regulator from door, remove old regulator, install new regulator, re-attach glass, straighten things out, ensure operation, put door panel back on.
This was just going off of memory when I took my regulators out and greased them a few years ago. I have new ones to install actually. You will need to move the window around a little when you are taking the regulator out so just keep that in mind. Not a difficult task at all.
HTH