I just went from foot peg to foot board. The opposite of what your saying. I am referring to the passenger pegs though. Since you didn't specify I will assume you mean the driver. The process couldn't be any simpler on the rear. If you want to do it right you need a torque wrench. Not sure what might be involved on the front.
If you don't mind me asking, why do you want pegs instead of foot boards?
If you don't mind me asking, why do you want pegs instead of foot boards?