By grinding do you mean clicking? A grinding noise would be the wheel bearing. The CV joint would click when you turn the wheel. You don't need a lift to replace the CV joint or boot (or wheel bearing for that matter). For a wheel bearing, remove the steering knuckle/hub assembly, get a new wheel bearing at Autozone (about $45) and take it to a machine shop to get the old bearing pressed out and the new bearing pressed in (probably another $45). If your CV joint is making noise it is bad and needs to be replaced. Get a new outer joint and outer boot (may as well replace the inner boot while your at it so get an inner boot too) from Mardi at Raxles (800) 257-8192. You should call him anyways to discuss your options. You'll need some additional tools as well, a 30MM deep socket to remove the hub nut, the torx bit to remove the brake caliper pin, a pair of Oetiker style clamp pliers for the CV joint boots, a needle for your grease gun to inject grease into the nooks and crannies of the CV joints, and rent a slide hammer from Autozone to pull the outer joint off. I always just leave the inner joint housing in the differential because I can never seem to pull the entire half shaft out as a unit. There are tools that attach to the slide hammer that will yank the whole thing out though.
It's kind of intimidating the first time you do it and it's always messy cleaning all the old grease out. There are some good online guides with pics though.
Good Luck!
Rick