The rear main seal can be replaced with the engine still in the car as noted above. You can drain and remove the oil pan. You may have to unbolt the idler arm on the steering linkage and unbolt the motor mounts to jack up the engine in order to get the pan to clear. Be careful doing this so that you do not damage the fan shroud if the car has one. You should also remove the starter to get it out of the way; if this is a single exhaust car, the cross over pipe will also have to be removed. Once that is done, You can remove the rear main cap. Inspect the bearing, if there is copper showing, the bearing is worn out and the engine will probably need to come out for a rebuild. If the bearing appears intact, you should then check it for excessive clearance using a plasti-gauge. If the bearing clearance is within specs, you then can consider replacing the main seal. Several manufacturers sell a kit to do this and the FSM goes into detail on how to do it properly. I would also recommend replacing the timing chain at this time, and it would be a good idea to check the rest of the main bearings and rod bearings while the car is apart. If this car has 100k or more miles on it you are probably headed for a rebuild.
Dave