Based on the 25th Amendment to the Constitution, there is a way, though barely clear, and in these times, even less practical.
The House of Reps can impeach a President for designated high crimes, as 2 Presidents have been; and then the Senate can exercise power to remove them from office with a two-thirds vote. This has never happened.
Given that this process will be dragged on ad nauseum --possibly for years--at the expense of getting precious little of The People's other business done, and the present Congress can't squeeze out a two-thirds vote on what day it is, we can question what practicality really exists. Fair to say we're stuck with our mistake, for an uncomfortably long while, unless some nut goes all "Grassy Knoll".
If it isn't already self-evident, despite Jefferson's proclamation, "We the People" really have very little input as to the way our country is governed, and not much more as to who does the governing.
(Putting soapbox away now)