Yes, take the e-ticket and one id of one of the travelling passengers to the PRS counter with an application requesting for substitution of another name, which should show some common denominator, such as set of friends, colleagues, relatives. Normally it will be done. Good wishes.

Sorry, but I am a newbie...
What is a PRS counter Do you mean I have to go to a bigger station and do it? or should I just go to any station master?

PRS counter means any station where the reservation counter is available
PRS(Passsenger Reservaton System) Counter.
No need to goto bigger station
you can goto any nearby station.