Jack up the car, remove the rear wheel, find the caliper and behind it there are two large 19mm bolts (on a 2002) and loosen them both, pull the caliper off and be careful not to hyper extend the brake line hose, pop out the old pads...they are two different pads in a set, identify inside and outside, insert the pads, use a 'c' clamp to spread open the pads and replace the caliper unit, bolt on your wheel and take it easy braking for a few miles in order to seat the pads well.
CHECK YOUR MODEL YEAR! DON'T COMPRESS WIHT CLAMP JUST YET!
In my experience with the 97 Altima, the rear brake piston CANNOT be compressed in with a C-Clamp! If the piston face looks like a 4 leaf clover, it must be TURNED back in, not compressed! Use a pair of needle nose pliers and insert into the grooves in the face of the piston. Turn clockwise to get the piston back into the caliper. Using a clamp could damage the caliper.
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