You'll need to remove the two black screws but MAKE SURE that you
carefully hold onto the screw head (or use a magnetic tipped
screwdriver).  

Retrieving the screws if they fall down under the drive can be a
bit....challenging (don't ask).

Once you remove the two black screws, you can *gently* lift the front
end of the drive up enough so that the door clears.

Once you done that, turn the car on, slide the protective cover
covering the eject button and press the eject button.  The disk will
eject.  

To install the new disc, just insert the new disc and let it load.
Close the eject button slide and once the disc has successfully
loaded (you'll need to go watch it on the screen), you can safely
turn off the car and reseat the drive back into the compartment.

Done!