I just replaced my dash speakers, and it was very straight forward. I went with the Infinity 3002 ones. They were a little more than the Kicker, which gets very good reviews here, but I've always had good luck with Infinity, so figured I'd give them a shot.
It did make a nice difference in the highs. Crisped the whole sound right up. I have the Alpine system in the regular cab R/T, and even with that system, the stock speakers were still paper cones.
If you do it, the easiest thing would be to go through Crutchfield, where they give you adapters to the factory wiring harness. Just plug and play then. The grills in your truck will lift right up easily if you get your finger nail under them and pry. Good luck! Let us know how it goes.