The engine will need to be supported - this is what I used when I did the oil pan gasket and it worked fine:
http://www.harborfreight.com/1000-lb-capacity-engine-support-bar-96524.html.
Bentley doesn't give a time estimate, but here is an abridged version of the step by step:
Raise and support the engine
Raise the car, remove front wheels (being sure to support the car with jack stands, etc.)
Remove splash guards under engine
Remove front ride level sensor mounting fastener and set sensor aside (if you have Xenon headlights)
Working at rear right corner of subframe, unhook heat shield from subframe
Remove left engine mount fastener
Repeat for right side
Detach power steering lines, right front of subframe
Remove stabilizer bar anchor fasteners
Suspend stabilizer bar from chassis using stiff wire
Working at left rear corner of subframe, remove control arm rear bracket mounting bolts
Repeat for right side
Working at left side of subframe, remove inner control arm ball joint mounting bracket bolts. Hang control arm using stiff wire. Don't let it hang from the ball joint.
Remove steering rack mounting bolts. Suspend rack with stiff wire.
Support subframe from below. Remove subframe mounting bolts.
Slowly lower subframe, being careful of heat shield, wiring harnesses and anything else is free and clear.
Installation is reverse of removal -
Bentley says to have the front end aligned when you're done (not sure how vital that is) and to be sure to replace the control arm rear bracket to subframe bolts and the subframe adapter to body bolts.
Hope this helps.