Identify the bad pavers; mark them with spray paint dots or magic markers. See if damage is just to individual pavers, either close together or widely separated, or if an entire section has been damaged. You may need to replace an entire section if many pavers in the same area are damaged; that may indicate problems with the subsurface or base below those pavers. Check big areas with a level, which could show deterioration of the base.
Use a whisk broom or the blade of a flat screwdriver to remove as much of the joint sand as possible. For big jobs, use an air compressor or power washer to eliminate sand around the pavers. Work on one paver at a time. Lift the edges with a pry bar or big flat screwdriver. Poke and prod and lift around the edges until you get the brick or block high enough that you can grab it with your hands (wear gloves). Use a hammer and cold chisel to chip out any bricks or pavers that cannot be removed with prying and lifting.
Remove the damaged paver or pavers and check the base beneath them for damage. Dirt can seep into the seams and solidify the sand base so it does not drain well, creating water problems that can lead to paver damage. Replace any bad base by scooping out the old material with a garden trowel and replacing it with fresh gravel, if necessary, or sand, if only the sand layer is bad. Level the new base on big areas by scraping a board across it.
Tamp the sand base with the edge of a brick or block to firm and level it. Slip the replacement paver into the opening and tamp it in place firmly with a rubber mallet. Make sure it is level with the other pavers. Add replacement pavers until all damaged elements are repaired. Sweep new sand into the joint around the replacement. Use polymeric sand, which has a binder that after being wet will seal the joint to prevent moisture from entering.