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Depending on the model, you should just be able to take the tube off the engine and pull the shaft out. Coat with grease, and put back in, making sure it fits correctly into the trimmer head end. You can also take the tube out of the trimmer head, mostly personal preference.
Does the owner's manual say anything about this? If the shaft is supposed to be greased, there should be instructions in the manual. Also double check on the type of grease you are supposed to use.
Also, talk to a dealer. Depending on what mood they are in (and how busy they are), they may just show you how to do it.