I have a 98 accord (SAme as the 2002). The dealer says that you need to replace the whole lower control arm. I got the ball joints for around 26.99 and rented the press from Advanced Auto Parts. I prefer Autozone, but the ball joint press at Advanced has 12 or so different sized cylinders in the kit as opposed to the 3 that Autozone has. The better kit's case is twice as big and ten times as heavy. It's worth it, plus you get your money back when you return it. I have to say though, that when I did mine, I took the whole lower control arm off and put it in a vice to press out the ball joint. A little easier than doing it whilst it's on the car, although it can be done. If you are not hearing any noises when you go over bumps and such then, you are fine. I did mine at 140,000K. Again, the real name of Dealerships are Stealerships. They will lie and take your money. Get the ball joints from a local store and take it to a local mechanic if you don't want to tackle it yourself.