Spot-treat alfalfa in early summer when the weather is hot, and the alfalfa has plenty of leaves. Water the lawn thoroughly the night before. Water will help absorption of the herbicide into leaves and foliage.
Put on rubber gloves to prevent absorption of glyphosphate through contact with your skin. Keep your arms, legs and feet well covered when applying this or any herbicide.
Take a length of plastic and cut an X-shape in the center with a sharp knife. Thread the alfalfa plants through the cut, making a plastic "skirt" to cover the surrounding grass.
Soak the alfalfa's foliage with glyphospate, spraying the tops, undersides of leaves and stems. Pull the piece of plastic up and move on to the next stand of alfalfa.
Watch the alfalfa over the next week. You should see the plants yellowing and curling as the herbicide blocks key amino acids in the foliage. When the plants have died back completely, gather them up and dispose of them in yard waste bags.