Quick starter question

[blue thunder]

I'm pretty sure I have a shot starter. It has not been cranking up like usual lately and it apparenently died today. Headlights come on good and the dash lights etc...Battery is good. My question is can I change out the starter from under the hood or do I have to get under the car. I have changed one out in this car years ago and I think I did it from the top. I want to avoid paying a towing fee if possible. Its sitting about two miles from home. Any help on this appreciated.

Mike