I have to find a link to a tutorial I found a long time ago, but it required scissors, elastic, a needle, and thread. No machine needed.
Here's some rudimentary directions.
Basically you cut a small hole at the top and bottom of where the elastic is and then cut the elastic. Pull it out. Hand sew the elastic in on one end then use a safety pin to guide the elastic through the tunnel. Hand sew the elastic at the other end then close your holes with some quick stitches. Repeat for other leg.
Here's some rudimentary directions.
Basically you cut a small hole at the top and bottom of where the elastic is and then cut the elastic. Pull it out. Hand sew the elastic in on one end then use a safety pin to guide the elastic through the tunnel. Hand sew the elastic at the other end then close your holes with some quick stitches. Repeat for other leg.