As long as you have a receiver with a semi-auto shelf, this is what I've always done.
Just measure the width of the shelf with calipers or mics, then measure the space between the existing ears. Subtract the space between the ears from the width of the shelf, and divide by two. That is how much has to come off of each ear. Trim an extra .005 off of each side for a little clearance.
So let's say the shelf is .870 wide and the ears are .760 wide. That's a difference of .110, half of which is .055, plus .005 for clearance. So you need to cut .060 out of the inside of each ear. These numbers aren't actual, just an example.
You don't need to trim the inside of the entire ear off, just the part that runs along the sides of the shelf.
Then you'll need to open the slot up taller and wider as well to fit over the shelf. You can get the correct dimension by measuring from the receiver to the top of the shelf and making the slot in the grip just a few thousandths higher than that.
The "pinning" is the simple part - just cut the ends of of the push0pin and epoxy them to the ears.