I have a 2010 Santa Fe and this is how I did it. Remove the back panel of the seat, there are 5 or 6 plastic clips that hold the seat back cover on, start at the bottom of the seat back panel and work your way upwards, pull the panel downwards and it should come off. Once the panel is removed, You will see a black cable running down the back of the seat. At the bottom of the cable, you will see a black plastic box with two clips holding it shut. Open the cover and pull away the cable from the box on the side that runs up to the headrest, once it releases the cable, remove the cable end from the holder inside. From there, just hold the headrest adjustment lock in and push upwards hard until it comes out with the cable.
To add to mitchelljm's comment, once you have removed the rear panel of the rear seat, my 2011 Santa Fe has a metal retaining clip on the left headrest post. The retaining clip can be removed and replaced by hand, or if you need to, you can remove it with pliers.
I have a 2012 santa fe.trying to remove head rest from the back seat.so that i can put seat covers.and they wont come out
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