Yes. Undo the driveshaft nut with the wheel on the ground. You might need to take the wheel of once to remove the split pin and collar thing that's on the nut. Then jack it up and take the wheel off again. I can't remember exactly what I undid (track rod end and/or suspension) to get the driveshaft out of the hub, but when it's out, undo the boot and knock the cv joint off the drivshaft. You can then replace the boot and put some more grease in the cv joint. Then shove it all back together.
There's a small wire circlip on the driveshaft that fits in a groove in the cv joint iirc. Make sure it's seating properly before you knock the cv joint back on the driveshaft. Butt the cv joint upto the circlip and make sure it's sitting in the groove all the way round before you knock it on or it could get wedged between the two.