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This is a fairly simple task that anyone can do as long as they have the right tools. First, jack up the car and take off the wheel. If you are working on the left side first, make sure to turn the wheel all the way to the left it make reaching the bolts easier and you can get more torque on them. Also, pop the hood and take the cap off of the brake fluid tank in order to relieve some pressure. After you have the wheel off and the wheel turned you will see the rotor and the caliper housing. (The rotor is the circle) the housing the other. You have to separate the two. In order to do this you will need a 3/8" hex wrench. There are 2 internal hex blots one at the top of the housing and one at the bottom on the backside of the housing. Place the hex in there and lossen the bolts. It's really nice to have an air tool to take the lugs off the wheels and also to take these bolts off. If they are stubborn use a little heat you may also try some spray lubricant but if you do make sure to wipe everything down really well to remove it when you are done. If you leave it on it will be really bad for your brakes and it will make them not as effective. Towards the end the bolts may appear to just spin so use a pair of pliers to turn the bolts and pull you should be able to see the bolt clear back in the housing. Once clear pull the housing off and you will have access to the brake pads. While you're doing this, don't leave the assembly hanging by the hose -- support it either on a block or hang it on the hub assembly. Take the old pads out using a flat head screwdriver and then squeeze the piston (the round thing that one pad was mounted on). I use one of those padded inside/outside clamps but you can also use a large C-clamp and a piece of wood to bottom the piston out and place the new pads in. I would recommend a little anti-squeak on the back of the pads. After the pads are in place put the housing back on like how it looked before you took it off and tighten the internal hex bolts and put the wheel back on and you should be good to go to the other side and do the same thing.
You'll notice that the brake fluid level rises when you do this. If you added brake fluid when it was getting low, it might now be spilling over. Next time the brake fluid is getting low, check or replace the brake pads before 'topping off' the brake fluid reservoir.
Please don't forget to torque bolts when reassembling. Brake Caliper bolts to 38 ft/lb & Lug Nuts to 75 ft/lb. These ratings were found from other online sources; if you have more accurate info please update this.
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