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If you just want to see how to remove a white key, skip to 2:43
To see how to fit a new white key, skip to 5:05
There are various videos out there showing how to do this, but often they don't show the "official" way described in the Yamaha service manuals
PLEASE do look up the service manual for your model online as it will save you a lot of time when taking the cover off the piano - which screws to undo etc. Also for some models (e.g. P80, P90, P500 and others) there may be additional things you need to do such as removing an additional set of screws so as to gain proper access to the keyboard assembly/keys. DO CHECK THE SERVICE MANUAL!
At 4:15 I decide to clean out the old grease and a load of dirt. You may feel this step not worth the bother
This method should work I believe on models P60, P80, P90, P120, P140, P155, P200 and P250 among others including many from the CLP and CVP ranges dating from around 2003 to 2013. See note above regarding P80/P90/P500 (i.e. check the service manual for extra steps that may be needed)
There are also some helpful suggestions in the comments below
I'm not entirely sure what the problem with the old key was but I suspect it had been knocked and was slightly deformed/damaged as a result. Certainly it seemed to lean over to the left as you can see at around 1:20 in the video