This is a DIY video depicting the removal process of a rear bumper on a mercedes benz 2000 E430. 

When I originally began this job I was told there were only three or four bolts holding the rear bumper to the rest of the car. Turn's out this was only true on the pre-face lift model w210s, but on the facelift w210s the rear bumper has nearly a dozen bolts holding it in. 

Once you remove all of the bolts holding the rear bumper, you must  pull each side out (preferably with an assistant). Once this is done the bumper will simply fall out, and then last you must remove the radio antenna wire which wraps around the inside of the rear bumper.