Not hard. Do not need a lift, but it is a good idea to get yourself the HD Factory Service Manual covering your model and year.
Having said that, I do differ with the book a bit with respect to the exhaust. They will have you taking it off in chunks. I find it easier to just take off in pieces starting with the cans and working forward to the heads. Use plenty of penetrating oil and you can probably reuse the TORCA clamps. But go buy a couple to keep in your box in case you twist one off. This usually happens after 5p on Saturday when everything will be closed for a couple of days!!
Once you get to the heads, fish out the old crush gaskets, and install the new ones or the Cometics or whatever you have chosen. Snug up the headers (using LOTS of penetrating oil on the install too). Remount the rest of the pipes handy, and then go back and torque everything to the specs. Ease up on the TORCA specs (in fact I leave them 5-7 ft-lbs shy). Put the heat shields back on with new worm-gear pipe clamps (buy those in bags of 10 at Home Depot or Lowes). Fire up the engine and do the Exhaust Leak test from the self-help pages (or see above). If necessary, gently increase the torque on anything the may be leaking. BE GENTLE. It is VERY frustrating to have to back track now, and especially if you twist off a head stud!!
TQ