Remove the tie rod and count the number of turns it takes so you can put it back in the same position, loosen the rubber boot and remove it, the bush is right on the end of the rack.
The tricky part is getting it out, look for a grub screw or set screw that holds it in place. I have heard owners put self taping screws in the bushing and pull on them with pliers to remove it. Also Spank i think (a forum member here) said he did one by turning the rack to full lock the opposite way you want to remove the bush then with the rack gears showing he used some drywall screws and locked them in place between the rack gears and the bushing. All he did then was turn the rack in the opposite direction and it pulled out the bushing.
FWIW and as you have the rack out already plus the relatively cheap cost of a new rack and pinion it would be simple to just replace the rack. Most owners do the bushing with the rack in place still on the car.
Almost forgot when re installing the rack you need to remove the grommet in the passenger floor and then remove the grommet in the rack then center it through the hole you could do this off the car also. When re assembling take the rack clamps/U bolts and make sure they fit in the holes as they often spring out when they are off the car, you may have to squeeze them together in a vice
If in doubt, flat out . Colin Mc Rae MBE 1968-2007.