Detroit, you are talking about the headlights, not the foglights.
The foglights are actually only attached by a single phillips screw that you can remove while kneeling in front of the car. It is visible from the outside, so no rolling under the car is necessary.
Undo the screw, pull the light out, and twist the wiring harness to release the wiring and bulb from the fog light housing.
EDIT: just to caution: do not overtighten the screw when you replace it. It simply turns into the plastic of the bumper, so you want to be careful not to strip it out, or you'll have to add a plastic or wood block to ensure the foglight is secure.
i think the reason your fog lens fogs up is either condensation is seeping through the outer seal (the seal is between the lens and the housing) or see if your bulb harness is loose , just see if there is any holes or cracks in the lens or housing