It's not too difficult, but to do a decent job you will need a few "pro" tools, e.g. acropops, and/or strongboys, 9"cutter or similar.
1. make 2 or 3 holes just above proposed lintel height, all the way through to take the needles, (decent bits of timber, or scaffold tubes, or similar, to temporary support the masonry above the proposed lintel). Or using strongboys, two holes sufficient to accept the strongboys. The number of temporary supports depends on the width of the proposed door. If using needles, core drills are ideal ways to make the hole. The hole may end up between ceiling and 1st floor level internally. If using needles, you'll need to support both ends of them.
2. Once temporary supports in place, remove sufficient masonry to accept lintels, and/or padstones. Lintel needs min 100mm support either end.
Properly bed the padstones and lintels. Use bits of slate, or other type of thin building material to sufficiently pack the lintel upto the underside of the other masonry.
3. Leaving that new lintel/padstones for a couple of days, cut out your door opening. Consider the frame opening. Pro's would use a cutter to make a straight neat vertical line, then remove the masonry in between. You'll need to make a decent cut inside and outside.
4. Fit frame and door.
5. Finish the step appropriately. You should have ensured that your proposed door cill will sit on or above the exisitng dpc.
After several days you can remove the temporary supports, make good masonry and finish the pointing around the new lintel.
If there's anything I've missed out or overlooked, I'm sure that the pros will assist.