How to sell my house WITHOUT a real estate agent when I still owe on my mortgage?

I'm thinking about putting my house up on the market, but I don't want to go through a real estate agent because I would like to come out with a little money leftover after paying my mortgage off. The balance on my loan is around 42k to pay it off. The house is assessed at 70k. I know all of the steps that it takes to selling the house by myself, I just don't know the process or the steps to take if someone decides to actually buy it. I don't know how it will be handled as far as paying off my mortgage, who to go to, what forms to sign and such, etc.

Can someone please help?

Thanks!

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