Its a pretty easy process really (obviously there is more detail than I'm providing but takes about 15 minutes max).You would need to add Google Play Services in order to support the app and access the Google Play store. It's a bit of a faff, but you'll find instructions on the web for doing so. But be warned, it's not for the faint-hearted.
Alternatively, just use something like Here Maps instead. I find it much superior to Google Maps for navigation.