These instructions are for a 6 cylinder exhaust, but the other exhaust types probably fit in exactly the same way!
This is a really easy DIY, the only tool you need is a flat head screwdriver, a clean cloth and about 5 minutes!!
The important thing to notice here is that the tailpipes have a slash cut to match the slash cut on the tailpipes of the exhaust. This can be seen on one of the photos below.
Push the first tailpipe onto one of the exhaust tailpipes until it won't go any further. Then rotate the tailpipe until the inside lip matches all the way round. On mine, this resulted in the small grub screw sitting at about the 5 o'clock position. You'll know it's in the correct position if you look inside the inner lip - your actual exhaust tailpipe will sit tightly against the lip.
Repeat for the other tailpipe.
Now tighten both grub screws all the way in.
Give the tailpipes a rub with the cloth to remove all your grubby fingerprints
and stand back and admire the view!!