If by "outer pinion bearing" you mean the one that resides under the pinion yoke, replace it, install new seal, slide in the yoke, and torque the nut to 250 ft./lbs. and go. If on the other hand it`s the bearing next to the pinion head, you`ll have fun getting it off the pinion shaft without the proper puller. And technicaly, you`d need to reset pinion depth.