never done this on IRS cars but I'm sure its the same as a solid.
Pull the rear cover off... let it drain and inspect anything for damage. Once its drained put a new gasket on or just use RTV sealant and run a good bead around the contact points. Tighten it to the factory torque specs and fill it up.
On the front side of the pumpkin above the driveshaft to the right (if your looking at the car front the front to back) there should be a 3/8" square input plug to fill it back up, the plug itself is round the input is a 3/8" square input for a ratchet or extension (you can 3/8" ratchet or in most cases extension on a ratchet to take it out). Put a rubber vacuum hose on the end of the quart that will fit in the plug hole and squeeze away. Once it starts coming out you know its full.... and your forearms will be at muscle failure from squeezing so long.
PS: make sure the car itself is level when filling back up with dif. fluid :biggthump