First take the tire off, same as if you were changing the tire. Don't forget to put jack stands in place once you get it in the air. You don't want to have the truck fall on you or on the exposed suspension. With a wench or socket take the two larger bolts out to remove the caliper. The smaller ones allow the caliper assembly to slide back and forth. At this point the caliper assy is off, you can remove the caliper, it may be a tight fit. So with the heal of your palm or a soft faced hammer hit it till it comes off the rotor. DO NOT let it fall or hang by the rubber hose connecting it. Doing that could cause a tear or a hole in the line. Now you can take the pads off the caliper assy. I usually open the brake fluid reservoir, using a large 'c' clamp compress the piston back into the caliper. Opening the reservoir allows the fluid somewhere to go as the piston moves. Watch out for spillage as you are doing this. Temporary suspend the caliper using a rag, coat hanger(wire type) or a strong string. Remember, careful of the rubber hose. Now you are ready to install your new brake pads.
Since you got everything apart, now would be a good time to look at your rotors. Look for deep grooves, thickness of the rotor and general condition of it. Replace if needed. Apply the anti squeak grease to the back side of pads. (hopefully you got the pads before you got this far) Remove whatever you used to tie up the caliper. Install the pads in the caliper. Slid it onto the rotor. Tighten the bolts and reservoir cap you removed earlier. A couple of pumps on the brake pedal and your new pads should make good contact with the rotor. Put the tire back on and do the same for the other side. Always change the other side's brakes, never do only one side.
I would recommend that you get a Haynes manual from your auto parts store. Most of the information I wrote is in there. Good luck to you and I'm sure you find its very easy to change disk brake pads.
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