Depending on which lateral control rod is being accessed, it can be a lot easier when the vehicle is on a lift; however, keeping the vehicle on a normal ride height is best. Proceed by lifting the rear of your vehicle with lifting jacks and placing it on sturdy jack stands; also chock the front wheels to avoid rolling. If raised, place the rear axle on a jack pad or stand securely with the help of a floor jack. Subsequently, first of all, undo the bolts that will free the lower end of the lateral control rod from the axle bracket, second next would be at the top end of the lateral control rod from the frame bracket and finally will be removing the control rod. Check them for splits, cuts or signs of wear; if these are problems it may be necessary to change the rod or to take the bushings to a auto workshop that deal with those. For installation reverse the removal process, make sure that all bolts and screws are tighten according to the torque specification while the car is in normal ride height. In case the vehicle was raised, set the rear axle to normal ride height, then use the jackstands to support it tighten the fasteners.