Yes you have to come from underneath. Jack the car up enough to be able to crawl under the tranny, find where the shift carrier is connected to the tranny, pull the clip off the dowel pin, disconnect the selector rod from the shifter arm, pull the shift carrier with the selector connected at the ball cup in one piece, install new parts, reinstall assembly. Its simple, but the clip that holds the carrier to the tranny is known as the "bitch clip" because it can be a total bitch to pop off, you have little room for tools and it can be hard to do with your fingers. Also, be careful installing the new cup bushing, if you damage it, there really is no point in reinstalling, because it is going to be sloppy again. I can imagine that it the procedure is in the bentley, but I'm not sure because mine is in my trunk. Good luck, anything can be done if you just do it.