The question you ask is pretty involved. You may want to go to a car parts store, or book store, and get a repair manual for your car. They cost about $16.00 Or, go to a Public Library first to assist you with the project.
4 x Rotors
1 x front set of brake pads
1 x rear set of break pads
Jack, Jack stand, Socket set, breaker bar, and ratchet, Torque wrench (or take car to tire store to get the lugs torqued afterwards), rubber mallet or hammer.
First, you want to remove the wheels. Loosen the lugs and jack it up. Once you have the car jacked up and the wheels removed (which you may need to do one at a time), look behind the caliper (the part which strattle's the rotor), there should be 2 bolts holding the caliper assembly on to the hub. Remove those 2 bolts but do not remove the brake line from the caliper because you will have to bleed the brakes if you do. Just move the caliper out of the way carefully making sure not to damage the brake line or bleeder valve on the caliper (wire works good for this).
Now that everything is out of the way, you can just pull the rotor off. You may have to break it free (from rusting). You can use a rubber mallet or carefully use a hammer if needed. It shouldn't be too stuck.
Now you are ready for new parts. Slide the new rotor on to the studs, and push it into place. You may want to put one of the wheel lugs on to hold the rotor in place while you bolt the caliper back on. Before you go putting everything back together, you are prolly going to want to get new pads too... so just replace the pads before you put the caliper back on... bolt everything back down nice and tight... spin the rotor by the studs with your hand and make sure nothing is scraping. If all looks good, replace your wheels and tires with the 5 bolts, and torque them to spec. It is always a good idea to check the bolts after 1 or 2 days on the wheels to make sure they are still tight.
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