I had to do my nearside ( UK car) bulb yesterday, it can be a struggle but once you have popped the rear cover off and pushed it down and to the side you can use a flat blade screwdriver to hook the lower part of the wire clip to the side from where it is hooked behind a small piece of metal, once free, it can be eased upwards but left attached at the top edge, almost like hinging it out of the way.
Then ease the electric plug from the rear of the bulb and carefully pull the bulb out using the two metal blade terminals sticking out.
Refit the new one ( keep fingers away from the glass) making sure the "notch" is at the top, drop the spring clip back down and ease it behind the metal notch to hold it in place, replace the electric plug and then manipulate the rear cover back into place and reclip the other metal clip to hold that cover tight.
Hope this helps and is not too long winded but a lot of people really struggle to change the bulbs as it is such a tight area to get your hands into. I also use a tiny torch, usually held in my mouth ! haha to help as it can be a bit dark down there.
Best of luck.
Previous Jaguar cars; 1983 4.2 Sov, 1988 3.6 Sov,1990 4.0 Sov,1994 3.2 Sov, 1998 4.0 LWB Sov, 2000 LWB Sov, 2003 XJ8 3.5 SE.
Current Cars; 2007 Transit Van , 2004 XJ super V8, 2011 XJL 3.0 Luxury, 2002 Jeep Grand Cherokee Overland