It's not easy. You'd need a lift or a way to secure the front end, pull off the muffler, jack the bike up some, remove the rear wheel, then drop the swingarm by taking out the shock bolt on the swingarm. From there, you should be able to get an extension, swivel and 10 mm socket in there to remove the nuts and take the pipe off. I'd also remove the O2 sensor prior to loosening the header pipe.