Passenger mirror glass for Toyota Rav4?

I have a 2001 Toyota Rav4L and the passenger side mirror is broken. The casing is fine, it’s the glass that’s broken/cracked. Where can I order a mirror glass and how do I replace it? Does it just pop out or do I need special tools? Or should I go to the dealer? Those people ripped me off so much before on things from whipper blades to tires that I’d rather do it myself or take it some place else. I’m in Boston, MA. Thanks for the help!