The whole deck needs to be lifted up first. Remove all nails and other foreign objects. Then locate your joist and pull out. Sand over the area and replace.
You will need to first remove the old joist by placing a secondary standing support source suck as a long board. Once you have it removed place the new joist in while it it still supported and hammed nails into all contact points to properly secure it to the deck.
Replacing one or more joists however is a big undertaking because of the very nature of joist. Access to joist is ussually possible only by removal of deck planking
First, remove all deck boards that run over the specified joist. then remove the nails that attach the joist to the joist hanger. Finally lift the joist free.