Which axle? The passenger side axle on the V6 has a bracket that bolts to the engine block - there are two bolts if I remember correctly, then you can pry the bracket away from the engine as it sits on a metal dowel (or 2).
To get the axle out of the tranny (presuming you have removed the hub assembly), just use a prybar to pop it out. *Do not* pull on the axle as you could damage the joints.
EDIT: Reading comprehension owns me :lol:
To get the axle out of the hub, I just unbolted the lower control arm, and pulled it down so the hub assembly can move around. Use a mallet to gently tap the axle out of the hub. Turning the wheels to the side you are pulling out also helps.
http://i13.photobucket.com/albums/a2.../RemoveHub.jpg