You did not specify the model year of your s-10 and if you had tilt wheel.
You will need to remove the steering wheel to replace any of those parts in there.
You can get a steering wheel puller at napa auto,,sears,,snap-on,,cornwell,,matco,,
be sure to buy a quality tool as a lesser quality tool may cause the steering wheel yoke to bind on the steering wheel shaft and damage the splines.
Also be sure to replace the thrust washer and gland nut once you remove them,,it is not recommended that you re-use these two parts.