Release the motor mounts, jack the motor up, block it. Pull the oil pan bolts, drop the pan as far as it will go. Reach inside and pull the oil pickup bolts and remove the pan and pickup all at once.
scrape the base of the block, and reverse procedure with the new pan.
It's not fun, it's not easy but it can be done!
2001 Ford Explorer Sport. 4L SOHC V6, 5R55E automatic and an 82" Snowbear.