How to change / replace a failed "system" disk on EMC Clariion CX500?

There are only 4 OS drives. Slots 0, 1, 2, & 3. The OS drives are mirrored. The procedure to replace one is to simply pull the faulted drive and put the new one in. It will automatically start rebuilding and mirror back to that drive. If I remember correctly, drive 0 is mirrored to 2 and 1 is mirrored to 3.