you will need console access to both CSS to change the primary boot file manually on both of them.
Then, reboot the backup CSS.
Once it is up, configure 'ip redundancy master' so the CSS will become the master.
Once master, reboot the other CSS.
However, there will be traffic lost as the backup CSS is in a down state. The CSS will have to bring up interfaces and start keepalives.
Also, all active connections will be lost because this solution is not stateful.
Finally, I would like to say that I always recommend vip/interface redundancy [unless you are doing fwlb] as with this solution the backup CSS is *alive* [no need to bring up interfaces and start keepalives], it has faster failover, we have better control on redundancy parameters, and it is stateful if combine with ASR.
Regards,
Gilles.