Depending on the style of cover and outlet you have, there are 1 or two screws that need to be removed to take the cover off the wall. Once the over is off, there will be a couple of more screws that attach the outlet to the electrical box that will need to be removed as well. Take your time.
Once the outlet is out, you can use a pair of needle nose pliers to remove the wires from the outlet. Since you should have already turned the electric off at the breaker, it is OK to touch the wires.
Step 3: Attach the New USB Outlet