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By removing pulling out the rear takedown pin to expose the lower receiver and magazine or by using things like the Bear Flag or Mean Arms speedloader-type devices that generally attach through the ejection port. Here's a video showing both: https://www.youtube.com/watch?v=3BQMuDkSy4Y

You will pull the rear pin, flip your upper forward and can load in from the top using this loader below.
https://www.budsgunshop.com/product_info.php/products_id/27547/butler+creek+bcaar15ml+asap+ar-15+m-16+magazine+loader+black+finish

Or, if I'm not mistaken, once you pull the pin and flip upper forward you then can release the magazine to change out to a fresh/full mag. Then close upper onto lower and push pin back in.

Hi Bryan and welcome. This how to video is all you need : https://www.youtube.com/watch?v=VA-LipnPVwk --- Cheers, stays safe and enjoy!