This DIY depicts the removal of a steering wheel off of a Mercedes Benz 2000 E430, W210.
The steering wheel pops right out once you have removed the steering wheel retaining bolt.
Remember, it makes the job ten times easier if prior to disconnecting the electricity, you get the steering wheel to go out as far as it will go. The other thing to remember, is that the holes where the two retaining screws are located for the airbag are extremely small. I was unable to fit a socket inside the holes.