Removing a door panel is relatively easy. You have to pry out the cover of the door handle and remove two torx screws which hold the trim to the door frame, there are also two same torx at the bottom of the trim. Also remove the plastic clip by pressing down the center pin. After removing 4 torx screws and the pin, just pry out the entire door trim and than disconnect the electrical cable.
The fact that your glass fell out the racks, means (most likely) that the door glass regulator has to be replaced if broken. I managed to fix mine in the past (in 4 hours!!!), but that was a rear door used less often. Good luck