What kind of grips?
The left grip is just on metal should no be to hard to do.
Now the interesting one, The right side is on plastic composit for the throttle.
When I puit mine on I did not use glue on the right side, It was such a tight fit was hard to get on and hasent moved in 2 years.
You could try to remove the clutch bracket and get to the inside of the grip with a small screwdriver.
You could also remove the plastic from the throttle and do it on a bench ot on the bike.
Chad Falstad "Hawk"
2011 HD Ultra Classic "angel"
2001 Nomad 1500 Sold March 2012
2001 VN 750 "Sold June with 2008 with 21,000""Serinity"