Take the rear axle completely apart and replace them.
You'll have to have a puller/press to get the large inner bearing off the pinion gear.
Drive the old races out of the housing and replace.
If the gearset isn't ruined.
DO NOT drive it with a loose pinion. It will **** up the gears.
If you pull the diff cover, and there is no metal flakes/sparkly **** in the gear oil, them you might get away with just tightening the pinion nut to re-set the bearing preload.... If the crush sleeved isn't "over crushed" to where when you try to tighten the pinion nut, it locks down (or over pre-loads the bearings) which will also burn them up.
Chances are you need new bearings though. And a solid spacer/shim kit to set pinion bearing preload.