Changing hard drive in SCSI RAID array

I have a Compaq Proliant 1600 NT 4.0 server that has 3 Ultra-wide SCSI hard drives configured in a RAID 5 array. One of my hard drives is failing so I am replacing it. Even though the drives are hot swappable I am going to shut the server down when I change out the hdd. My question is when I boot the server will RAID see it and restore data to it by itself or will I need to boot it up and then format the new drive and then have RAID restore the data?