I'm pretty sure you just need the zpool replace command:
# zpool replace <poolname> <olddisk> <newdisk>

Run that for the disk you want to replace and let it resilver.  Once it's done, 
you can unconfigure the old disk with cfgadm and remove it.

If you have multiple mirror vdev's, you'll need to run the command a few times. 
 I expect you can replace several drives at once but I've not tried that 
personally.
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