I just did this with my 02 Connie and Murph's grips. I did not want to ruin the old grips, so to get the old ones off without cutting them I first slipped a thin screwdriver in under the old grips so I could insert a WD40 red stem inside there and give it just a little squirt and the old ones loosened up just fine and slipped right off in good shape.
Now, to put the new ones on first you must completely clean off the WD40 by using a little alcohol or whatever and a clean rag. To install the new ones,.. first using an exacto knife carefully cut the ends off just outside the lip (for bar ends). Then all I did was use some plain rubbing alcohol to completely moisten the inside of the new grips and promptly slide them on. They went on very easy and then just wait about 2 hours for the alcohol to evaporate and your good to go. I don't think you need to use glue. I didn't and they are on very firm. I would not use any kind of soap or any other lubricant (other than the alcohol) to install them.