no, u don't have to take off the door...
just remove the door panel... and then if your is electrical.. then disconnect the cables... after that... there should be a metal bracket that holds the window... you have to slide the window in from inside the door... insert one edge first and then turn to insert the other edge... then slide in. however, prior to doing so... you will need to use a brush and remove all the broken pcs... and also if i remembered correctly.. on the metal bracket there should be a little hook or something of that sort to latch onto the new window. once you do taht... everything else should be cake... if confussed... check ur helm... it helps.