It may be possible to take the screws out of the bar at the the door, fit the replacement glass into the rubber and force the glass/rubber back into place useing lots of lube and bending the bar out of the way
If not then you will have to strip the inner dorr panel off, to remove the bolts at the bottom of the br to move it far enough out of the way
Tools, screwdrivers, and an 8 or 10 mm socket possibly torx screws, if it has manual windows the clip holding on the winding handle may be difficult to get off and might require a special tool but can be done with patience and screwdrivers