Here is a quick video on how you can remove and replace a door panel on a 2002 mercedes c240.
How to remove rear door panel on 2000 mercedes e320.
Gently pull the door panel out.
I second jack s comment on figure 5 you have to slide the housing towards the front of the car and it will then come out hinging on the metal clip that is at the rear.
On my w210 the problem was the wire into the external junction was corroded and had broken.
After removing the plastic access panel below the bumper you will see how the fog lamp housing opens up in the rear to facilitate lamp replacement.
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There is a square clip near the lock that secures the door panel to the frame.
Push down on the peg release mechanism of the square clip and remove it.
Then insert the pliers into the crack between the panel and the frame.
Also on figure 4 and 5 for my 1995 e300 one of the clips that is closest to the front of the car is a locking one that needs to be un latched using a small flat screwdriver before it will let go.