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If your asking what you need to change out pipes, then here goes:
If your bike is fuel injected you will need to have the bike retuned either with a HD download or other fuel managment system (SERT, PCIII, DFO, etc.)
If it is carbed, then you can have the carb rejetted.
Change to a high flow air filter (Screamin Eagle A/C kit, Ness Big Sucker, etc.)
Your pipes will come off by taking the two head bolts off on each pipe and taking them loose at whatever mounting brackets they have.
Then your new pipes will bolt up according to the directions provided with the pipes.
You probably want to change out exhaust gaskets when you change pipes, they are only like $8.00.
That's it. Pretty simple.
If your asking what you need to do to fabricate a set of custom pipes, then I don't really know.
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