It is siiimmmple.
Jack up the car, put some stands in for safety. Take off the wheel and put it aside or under the rotor.
I think it is a 10mm or 12mm socket to take off the calipers..one bolt on the top and one on the bottom. Use a flat screwdriver to pry off the caliper from the rotor. Support the caliper with wire or rest it on a bucket or something. Pull the old pads out.
Take the cap off the brake fluid reservior. Find a 6" C-clamp and compress the brake piston back inside the caliper. You do this by putting the screw part of the clamp inside the hole in the caliper piston. Screw it closed so it pushes the fluid back out into the brake system. This is why you take the cap off to keep any unneccessary pressure building in the system.
Put on the new pads and slide it over the rotor. Reinstall the upper and lower caliper bolts and put the wheel back on. Just don't get any grease or dirt on your rotor or brake pads. Once you have that done, pump the brakes to seat them on the rotor...the pedal will hit the floor once or twice and then get firm.
I have done this 3 times on my '03 Sonata and just did this this morning on my wifes '05 Grand Caravan. It is simple...just take your time and Git-R-Done.
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