On your engine, there is a round cover in front of the drive gear. That is a plastic part which threads in/out. Remove that and take the nut off. You may have to use a puller to get the gear to release from the taper. The gear will not move around in the housing and there is a keyway that aligns to reinstall. Turn you engine to number one tdc compression before you remove anything at all and have the pump shop time the pump for number one and just put it back on, It will be in time. Note the position of the base of the pump at the rear of the timing housing. There are marks you can go by to re- fine tune the setting. But you need to observe those before moving the pump. If there are no marks, make one.
You mention the KDP thing. So you intend to remove more than just the pump. Still start with the engine at tdc compression for number one and with the front cover off, wash the cam and pump gears with solvent and mark them with an indellible marker where the teeth mesh. You can then put them back in their original position by the marks you have made. On an engine I have apart there is 0 on the crank gear and 00 on the cam gear. The crank 0 meshes between the 0 0 of the cam gear.
I have never done the KDP on any of my trucks but looking at one that is apart it is obvious that the gear on the cam can stay right where it is. If you do the KDP and reinstall the cover, then do the pump, the pump gear will not have enough space to get out of position. I understand that the cam to pump gear may be in more than one position depending on which pump configuration is used. So if you are doing the KDP with the pump off, it would be appropriate to mark the cam/pump mesh position before taking the pump gear off its shaft.
I am not sure what to advise on the engine that is already apart. It would require the engine to be at number one TDC compression and the pump set to number one stroke then wiggle in the pump gear to a mesh point. Look at all the positions on yours when you first get it open and reference that. Cummins can tell you if you have the data plate information. The guy that does our pump work probably knows. He is a certified Bosch repair person.
James