Easy job, lean the bike on it's right cylinder, remove the shifter lever, using a drywall screw or a wood screw screwed in the old lip seal get purchase on the seal and remove it using a pair of wise grips.
Then oil the new seal, and, using a socket of the proper diameter, insert the new seal in place. Carefully. Then put back the shifter lever. the most straining part is to put the bike back on it's centre stand.
This way no oil drips and you keep your hands as clean as you can, including you shoes !