It is a relitively simple job. Jack up and support the vehicle properly. The brake calipers are secured to the brake caliper mounts using either 12, 14 or 17mm headed bolts. Once these bolts are removed from the slide pins the brake pads are exposed. There are several videos on Youtube that are similar to your Toyota.
There is a company that independent auto repair shops "buy" their information from that offer a very reasonable service to do it yourselvers. You get a one year subscription to year make and model specific repair procedures, service bulletins, component locations, wiring diagrams ect.... great quality information same as the professionals have ,much better than generic workshop manuals from parts stores, much cheaper than the factory manual. http://www.alldatadiy.com/