Repair Procedures: Removal

Disconnect the battery negative terminal.
Remove the under cover.
(Refer to Engine Mechanical System - "ENGINE ROOM UNDER COVER ")
Disconnect the starter cable (B) from the B terminal on the solenoid, then disconnect the connector (A) from the S terminal.
Starter "B" terminal tightening nut:

9.8 - 11.8 N.m (1.0 - 1.2 kgf.m, 7.2 - 8.7 lb-ft)

Fig 1: Locating Starter Cable And Connector
Courtesy of HYUNDAI MOTOR AMERICA
Remove the starter mounting bolts (A)
Starter mounting bolt:

49.0 - 63.7 N.m (5.0 - 6.5 kgf.m, 36.2 - 47.0 lb-ft)

Fig 2: Locating Starter Mounting Bolts
Courtesy of HYUNDAI MOTOR AMERICA
Remove the starter.