Not a difficult job and no special tools are required.
1. Visit your favorite auto supply store or Toyota dealer and pick up new pads. There are many choices so you'll want to do a little research before buying whatever the clerk tosses your way. Also get a package of disk brake anti-squeal, a tube of disk brake grease (really -- I'll explain later) and a can of brake parts spray.
2. Park the car on a level surface and set the parking brake if you'll only be replacing pads. Don't set it if you'll replace rotors or check the parking brake pads. If you're able, lift the entire rear of the car. If not lift one side. Support the car with jack stands.
3. Remove one or both wheels. Set aside along with lug nuts someplace where they won't get kicked and scattered.
4. Remove the (2) bolts holding one caliper and carefully lift it away from the rotor (don't stretch the hose).
5. Remove the pads from the caliper noting how they're installed in the slots.
6. Compare the old pads with new to be sure you've gotten the correct ones.
7. Following package directions apply the anti-squeal to the outside (metal side) of each pad and set aside to dry.
8. Use the brake cleaner spray to thoroughly clean all surfaces of the caliper.
9. Grab the tube of brake grease and apply (sparingly) to the sliding surfaces (slots) that the pads slide in on the caliper. Use the same grease on the smooth surface of bolts holding the caliper to the axle. Set aside on clean paper or rag so they don't collect dirt from the floor.
10. Remove any anti-squeal springs/plates from the old pads and install on the new pads.
11. You have to retract the brake piston in the caliper. You can try using your thumbs but a simpler way is to use one of the old pads. Re-install it on the piston side then use a (large) C-clamp against the back surface of the caliper and the old pad to press the piston back. That'll ensure it doesn't go too far.
12. By now the anti-squeal goop should be dry to a kind of rubbery texture. Remove any anti-squeal springs/plates from the old pads and install on the new pads.
13. Install the new pads in your nice clean and lubed caliper
14. Re-install caliper assembly and go through the same process on the other side of the car.
15. IMPORTANT Before driving, get in the car and pump the brake pedal. That will push the pads back out to contact the rotor. Failure to do this could result in an accident when you press the pedal and it goes to the floor while trying to stop.
If you noticed your rotors were scored after removing the wheels they 'might' be able to be resurfaced but new/rebuilt may be necessary. The rotors (should) just pull right off the axle. If they don't there could be some interior rust holding them so a hit with a soft mallet might be necessary to loosen them or you've left the parking brake on and the pads are holding the rotor.
Cheers
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sounds pretty close. sorry.
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