You simply remove the wheels. Unbolt the calipers from the bracket and use some wire to hang it from the strut. In order to get the rotors off to either replace or get machined you either need a rubber mallet or a piece of wood and a hammer. You will probably have to smack the rotor pretty good a couple of times as you go around it to break it free from the rust bond it has probably made. Put the rotor back on, slide the pads out of the caliper and put new ones in according to the instructions on the brake pad box. Re-attach the caliper and put your wheel back on. That's it.
Since some brake pads don't come with instructions: after you remove the old pads, you will need to compress the cylinder with a C-Clamp or some other clamping mechanism. Then you can install the new pads. Also check to make sure the new pads have an indicator tab, if they don't, remove the tab from the old pads and attach it to the new pads.
After you are done, make sure that after you start the car for the first time, you press the brake pad all the way to the floor and let it out slowly. It will press easily to floor. Do this a couple times until you feel normal pressure on the brake pedal. This process pushes the cylinder back out so that there is pressure on the brake pads when you press the brake pedal. NOT DOING THIS IS CAN BE VERY DANGEROUS!
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