I just did this over the weekend. But I actually put a new one on because I replaced all of my vacuum hoses and breather tubes after I cleaned out the valve cover.
I put the grommet in as far as I could get it and then pretty much just worked in a circle with a small flathead screwdriver until it worked its way in. But again, mine was new so it may have gone in easier. The good thing is, if you have to end up buying a new one, it was the cheapest of the three parts at the dealership. I think 17.50.