If its the rear sensor they are simple .
jack the car up , take the wheel off and you should see a black cable going to the rear of the metal disk that sits on the rear arm .
The sensor is just bolted on with an allen key [about 6mm from memory] it will probably be tight but comes straight back at 90 degrees to the wheel .
lift your back seat and there are two black grommets about the size of a 2 pence piece (one for each side ) unlclip the faulty cable from the socket and push the gromet through to the underside of the car , the whole thing then just unclips .
If you cant remove it from the rear then take the caliper off and remove the rear disk and tap through from this side .
It is definatly not a hard job at all . just remember to support the caliper . Definatly takes no longer than about 30 minutes .
While you are there you may as well change out the rear pads if they need doing . And is definatly not welded .
A word of warning the replacement from GSF is too large , i had to sand about 0.5 mm off mine .