Download Upper Control ARM & Ball Joint R & I 1990 Lexus ES250 – Removal & Installation (LS400) Remove strut assembly from vehicle. See STRUT ASSEMBLY R & I. Remove 2 upper control arm bolts. Place upper control arm in press. Press ball joint from upper control arm. To install, reverse removal procedure. Install upper control arm and tighten 2 retaining bolts to specification. Install strut assembly.