1995 Jetta GLX Tie Rods

There was a question a few months ago where someone needed to change tie rods on a 95 Jetta because the passenger side got bent, and it was suggested that they just take it to a mechanic. Was this because it was bent rather than worn out, or are tie rods on this model just too hard to do yourself? Apparently, I need to change mine on both sides (inner and outer?), but the cheapest place around will charge me $300 per side. That leaves me with two choices: stop driving my car or do it myself (well...not myself, I'd have some help).

My questions are these: is it possible for me to do this myself without killing my car? If so, where can I get some instructions (Chilton's, etc.?)? One last thing...what do they mean that I need to replace both inner and outer?

Thanks for putting up with an idiot...