This guide is based on the removal and installation of a driveshaft on a 4th Generation Camaro 3800 Series II.  However pretty much any other driveshaft removal/installation will be identical or very similar.

To start things off you'll want to raise the car on level ground to get access to the driveshaft.  Preferably the rear should only be jacked up because if the car is level or the nose is pointing up, when the driveshaft is removed a lot of the tranny fluid will come out.  With the rear in the air support the car on jack stands, right in from of the trailing arms is a good spot or any strong frame rail if your car has an independant rear suspension.  Afterwards lower the rear axle. Remeber to put blocks on the front wheels so that the car doesn't roll!

Leave the transmission in Neutral or Park.  Make reference marks on the driveshat and the pinion flange on the rear differential in line with each other in order to maintain the balance.

Now remove the rear universal joint bolts and clamps.  Turn the driveshaft or wheels as needed to make the bolts more accessible.

The 4th Generation V6 Camaro have a two-piece driveshaft so the center support will have to be unbolted from the torque arm.

Tape the bearing caps to the spider to prevent the caps from coming off during removal.

You can now remove the rear of the driveshaft.  It might help to pry the driveshaft foward toward the transmission to help remove the u-joint from the flange.  Once the rear of the drive shaft is free you can now slide the front of the drive shaft out of the transmission.

With the driveshaft out, wrap a plastic bag over the transmission extension housing and secure it with a rubberband, this will help prevent any loss of transmission fluid and keep any contaminants out of the transmission.

For installation repeat the following steps in reverse.