Copied from the 09 Ford service manual
Removal and Installation
All vehicles
Remove the air cleaner element. For additional information, refer to Section 303-12 for Intake Air Distribution and Filtering.
Remove the 2 bolts and position the degas bottle/lower air cleaner housing assembly aside.
To install, tighten bolts to 15 Nm (133 lb-in).
Relieve the vacuum in the brake booster by pressing and releasing the brake pedal a minimum of 5 times with the engine not running.
Disconnect the brake fluid level switch.
NOTE: Support the master cylinder with mechanic's wire.
Remove the 2 brake master cylinder nuts and position the master cylinder aside.
To install, tighten the nuts to 25 Nm (18 lb-ft).
Vehicles equipped with Roll Stability Control (RSC®)
Disconnect the brake pedal travel solenoid electrical connector.
All vehicles
Disconnect the brake pedal travel sensor electrical connector.
Disconnect the manifold vacuum outlet assembly from the brake booster.
NOTICE: Do not service the brake pedal or brake booster without first removing the stoplamp switch. This switch must be removed with the brake pedal in the at-rest position. The switch plunger must be compressed for the switch to rotate in the bracket. Attempting to remove the switch when the plunger is extended (during pedal apply) will result in damage to the switch.
Remove the stoplamp switch. For additional information, refer to Section 417-01 .
Remove the brake pedal arm pin and disconnect the booster push rod from the brake pedal arm.
Remove the 4 brake booster-to-pedal bracket nuts and remove the brake booster.
To access the retaining nuts, fold back the sound insulation.
To install, tighten to 27 Nm (20 lb-ft).
NOTICE: Do not press, pull or otherwise move the brake pedal while installing the stoplamp switch. This switch must be installed with the booster push rod attached to the brake pedal and with the brake pedal in the at-rest position. Installing this switch with the brake pedal in any other position will result in incorrect adjustment and may damage the switch.
To install, reverse the removal procedure.
For vehicles equipped with Roll Stability Control (RSC®), calibrate the ABS module. Follow the directions on the scan tool for the calibration procedure.
From the manual it appears the pin is just pushed into place I would carefully pry it out