Disconnect the fuel line before the filter, put a tube in a bucket, (or else you risk getting tank sediment in the filter, which will clog it) and run the fuel pump until it's dry. Depending on what type of fittings you have, there may be more or less convenient places to tap off of obviously. Then put some fresh gas in, and run for a couple more seconds to purge the line of all of the old gas. Hook everything back up, done.
If you're going to replace the fuel filter anyway, tap off before the fuel rail wherever is convenient.

Work smart, not hard. That's what pumps are for.