Step One
Remove both of your front seats. On my 2002 Concourse, each seat is held down at four points. On both rear points, they used bolts and were easily removed with a 18mm socket. The studs stay in place and the bolts come off. The front seats use a Torx bolt that goes down into the floor and the whole bolt is removed. After much research, the ACTUAL size of the Torx bit is a 57 which is very hard to come by and not normally sold in stores from what I gather. Fortunately a size 55 worked well enough to get them out and was pretty close. This is a pretty standard size. Disconnect any wiring harnesses under each seat. Remove your foot wells beside each seat. They have about 5 screws each and are then held down by clips. A good tug will release them. Remove your doghouse and side kick panels which are also held in by clips and can be gently pulled out. The clips are attached to each panel so no danger of losing them. You should have an empty cab at this point.
Step Two
Move your seats well out of the way. Fortunately most of my stuff behind was removed so I could just move them towards the back. This photo is them going back in but you get the point. Step Three
Remove your old carpet. Wear a Hazmat suit

Red arrows show the rear seat studs, green arrows show the front Torx bolt holes and the yellow arrows show where the plastic foot well clips insert into. There are two others not being shown on the bottom of the actual foot well that go into the body. Give it a good vacuum, there will be lots of sand and dirt.
Step Four
Obviously, buy new carpet. I found a 8'x10' area carpet for $50 or so. Lay out your old carpet on top of the new and trace your pattern. Do a good job here because the tolerances in some areas are tight like around the doghouse where there isn't much room to hide a mistake. Use a sharp Xacto knife and cut from the BACK side and not the front. The front fibers will prevent your blade from cutting cleanly, the harder and smoother back side will not. **WARNING** Be very careful how you trace your carpet and which direction you face it when tracing.
Step Five
Test fit your freshly cut piece in place. I gave myself an extra 1/4" around the perimeter for some safety and felt trimming it after it fit okay was a good move. You will notice there is no carpet for the wheel wells at this point...keep reading!