Remove the Wheel. Remove the 2 bolts holding the Caliper on. Remove the 2 bolts holding the Caliper Bracket on. Now, to remove the Rotor is a little tricky. The 2 phillips head screws holding the Rotor on remove counter-clockwise. You will need an impact wrench to remove. I found it easier, and cheaper, to remove these screws with a hammer and a center punch. The 'Shop' wanted $100 just to remove these screws. Just make a dimple with a few strait on hammer hits, then angle the center punch to hammer the screw off counter-clockwise. There is a good chance you will destroy the screws, so go to the dealer and buy replacement screws before you begin the work.
It is a relitively simple job with few tools required. Remove the wheels, the brake calipers, the brake caliper mounts, knock off the rotors, clean the mounting area fit new rotors and revers procedure to reinstall components. Autozone have some popular workshop manuals for free on line once you register (for free) on their website http://bit.ly/autozone_repair_info .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://bit.ly/alldata_repair_manuals or try http://bit.ly/mitchell_repair_manuals_online and get an online repair manual subscription.