I would recommend having a number of buckets/containers handy, and it isn't going to be fun.
You're going to want to take some tank water and fill enough buckets to house your fish and enough water to at least refill a third of your tank. Then take something like a sturdy net or small container and start scooping out your old gravel. I would recommend rinsing it out in a sieve, otherwise it will likely smell.
After you've emptied out the gravel, you're likely going to have a bunch of dirty water that you'll have to drain. My suggestion would be to rinse out your new substrate and then put it in the tank, replace the old water that you have in buckets, and then fill the difference with dechlorinated water. You may also want to purchase some live bacteria to replace the bacteria that was growing on your old substrate.