Do you want to remove it at the motor or at the console?  At the console look under it and there should be a pin hanging under the housing right by where the cable goes into it.  There should be a small hole near that pin, insert the pin in the hole and pull the cable out at the same time.  On the motor end the cable will run thru a tube with a big nut on one end and some linkage at the other.  Take the linkage apart as close to the tube as you can and unscrew the big nut and the cable should slide out of the tube.  Have a rag or towel close by as this can be a very greasy process.  Hope this helps.

You can also use the search function and type in (steering cable).