I know this topic was already covered, but I feel bad always 'taking' information from this forum without contributing. So, I'm writing this up as a way to give back and hopefully boost someone's confidence to try it.
My install was a bit different than this one by @Tylus (2005+ style grab handle install...)
My 2000 excursion didn't have the entry door driver side A-pillar handle grab for pulling into the seat. A friend met through FTE ( @jasonodsky ) picked the handle and trim section from a pick-n-pull yard here in Wisconsin. I got it for $20 from him.
First - remove the trim cover (pull top edge first, straight backwards, then twist top towards passenger side and lift bottom portion.) Sorry I didn't get pic of this. It's not hard, you can do it. Tug and wiggle!
Also: pull down the rubber door seal out of the way.

My handle was fastened to the trim piece, through the back side. I test-fit the whole assembly first, and marked the holes in the frame (four)

Center punched holes, pilot-drilled, then enlarged to proper size (my fasteners needed 3/16" hole size)

I did this from the outside of the metal: much easier than trying to fit in from the windshield side.
I drove the fasteners through, self-tapping as they cut new threads in the metal. It was tough going: reverse to clean out the threads, then back in. I wanted these FIRM.

Next, the trim goes back in. Bottom first, tuck down under dash and align the slots with three retainer clips. It snaps in (forward direction, parallel to vehicle)

I used a grinding wheel to smooth out the flared backsides of the hole and leave a flat mounting surface.

Tightening the fasteners. These had a nice bite with a wide washer head. Since it's mild sheet steel they mount to, I didn't crank too hard. Just firm and snug. I didn't use a clip nut (tinnerman, U-nut) because the holes felt pretty good. I may have to revisit this later if it comes loose.

Then, snap in the cover plugs and it's done!


Does anyone need a blank piece of A-pillar trim? lol

 

I thought my handle was factory until i took it off to install a gauge pillar pod below it. It was done the exact same way as you have documented here. But they did a decent job lining it up because the gauge pod still fit properly and the handle actually holds it down so i did not even have to use anything to mount it, its smashed between the dash and the handle so firmly it does not even wiggle.

I put my TPMS monitor in that gauge pod, it actually fits nice and does not impede the spotlight handle or the grab handle.

 

Great write up Dan! @Stewart_H I think this needs to go into the Tech Folder.

Cheers,
Jasonodsky