Close the drill chuck all the way until it stops, but do not over-tighten it. Insert the chuck key into the chuck. Strike the chuck key sharply several times with the mallet to loosen the retaining screw inside the chuck.
Turn the drill chuck so that the jaws fully open. Insert the Torx driver into the chuck and remove the retaining screw. The screw has left-handed threads so you need to turn it counter clockwise to remove it.
Insert the chuck key into one of the openings on the side of the chuck. Strike the key several times with the mallet in a counterclockwise direction to loosen the chuck from the body of the drill. This may take several attempts since there is no way to hold the motor still as you strike the key with the mallet.