Working from memory, as I haven't been able to locate the instructions, but I think it went something like this. After you remove the shaft, extend it all the way and clean off as much of the old grease as you can. Then at the open end of the shaft, inject some heavy duty grease (like wheel bearing or CV) and plug off that end with a cork or similar object. Then slowly compress the shaft, allowing the grease to work its way out the other end. It may take several times to get it fully lubed. I never did it as the problem with mine was with the u-joint, not the shaft.
Black 2000 SSEi, Silverstar Headlights, Angel Eyes fogs, 3rd brake light overlay, hi-flo cat, drilled 180 degree thermostat, Intense FWI, PCM, shift kit, and 3.4 Pulley. Solid front mount.