Place a drop cloth below the stairs to catch sawdust and debris. Put on work gloves and goggles.
Measure the length of the baluster with a tape measure.
Saw out a section of the thinnest or narrowest part of the baluster with a hand saw. The section that you cut out should be about an inch, just enough that the baluster is in two parts. This will allow you to pull out or unscrew the two pieces from the railing. Keep in mind that balusters sometimes have screws at their top or the bottom, so you will need to unscrew or pull out both parts of the sawed baluster.
Measure the diameter of the hole in the railing where the baluster once was. This is the diameter that you need for your new balusters.
Add a little epoxy made for wood and metal in the holes at the top and at the bottom of the railing and allow it to dry overnight. Slide the new balusters into place, making sure they fit into the holes in the railings. Wipe away excess epoxy with a damp sponge.