From the bottom, and I followed the steps in the FSM pages 21-22. I jacked the car up and put it on some jack stands, then removed the black body cover underneath the front of the car. From there I found the starter which is on the drivers side. Removed the two bolts holding the starter in, as well as the bolt on the front of the starter. This bolt has a black cover on it that you have to remove first. After I disconnected every thing I just slid the starter out towards the front and it came out pretty easy. This is on a manual car, just glancing at the instructions for an automatic it looks like you have to take off a couple A/T lines. I'll try to post pictures later. Here's a video of what it sounds like with a bad starter bearing
http://www.youtube.com/watch?v=iFgGWi9E62I