Most of the methods I have seen require some sort of prying. I absolutely refuse to put a pry tool near the painted surface of my car (even carefully) so this is what I did.

I put a piece of tape over the lens and doubled it up in the middle so I could pull with it... the lens popped right out. I did not go near my paint with any sort of tool.

Hopefully this helps others out there who care about the finish on their car =)