It's usually easy. Remove the offending drive, put in a known good drive. Boot into OS and let the OS/RAID software rebuild the array.
It gets trickier when you have a motherboard failure or RAID controller failure. If it is a RAID1 setup, it usually isn't that bad.
Basically the process goes:
1. Clone one of the mirrored drivers to a backup drive.
2. Re-create your RAID array with two known good drives
3. Use a current clone utility like Acronis to clone your backup drive to the recreated RAID array.
4. Run repair install of OS. You may have to use RAID driver diskette if the OS doesn't see your array.
If you are rebuilding a RAID0 array, on the other hand, good luck to you sir!