I believe that it is not nessecary to drain the tranny(unless you want to). Follow his steps and pop it back in just as he stated.
Another option is just replace the boot unless it makes a popping noise while turning (then your axle is prob. fudged), but even then you have to take it out so replacing it doesnt seem like a bad idea.
Also since you are new to hondas buy a manual, great for referring to.