WARNING: This page is about a different car, the 2002 Oldsmobile Bravada, 2002 GMC Envoy XL, 2002 GMC Envoy, and 2002 Chevrolet TrailBlazer. However, it is still accessible from the selected car via links, so may be relevant.
Open the hood.
Rotate the bulb and socket counterclockwise in order to remove the bulb and socket from the housing.
Remove the side marker bulb (4) or turn signal/park bulb (3) from the socket.