The problem with getting the old joint out is that you often have to drive the two bearing caps out together if you don't want to hammer on the yoke. .
The method used above by jmeehan has worked for me, but sometimes I cring too when I have to hammer on the yoke so hard.
So most of the time I take a torch and cut the X center or trunion out, leaving only the cap in each ear of the yoke, and then I can fully support the ear, and drive the old caps out without hammering on the yoke.
Then use your vice to press the new U-Joint in place. .
Good luck, Greg L