Please leave this with the professional as the ABS system is very sensitive to any adjustment with the clearances. Any shop should be able to help you out. Note: Repairing is ok but safety is first... take off the wheels and the drums. You will then see the shoes. then you can replace and reassemble I have replaced my 2001 Windstar drum brakes with no problems. They're exactly like very other drum brake I have worked on over the years.
If you don't have experience with drum brakes, or don't have - or want to buy a Chilton's or Haynes Manual, register at Autozone.com to get FREE access to their Chiltons Repair Guide.
The section on these brakes is terrific - with lots of photos and illustrations to enhance the step-by-step instructions. ---- This could be a hard job is you have not done brakes before. I would recommend a Haynes manual if you have limited experience. You need to pull the rear tires - then take the drums off to get to the pads. Then you have to take the springs off (2 per side) then take off the adjuster. Then compress the wheel cylinder - install new pads, grease on the metal rubbing parts - re-install the adjuster (adjust it all the way down (it will usually need to be lubricated as well)) then put the springs back on. Check the drums for warpage or other defects - you can have them machined. Score with sandpaper if they need nothing. Replaced the drums and put the wheels back on and you are good to go.
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