How do I drain and replace Power Steering fluid

What we do at the shop is use a flush machine with your vehicle running suck out fluid from the high full level down to the minimum normal level, fill back up with a clear flush cleaning solvent compatible with your power steering system, cycle the steering wheel to get the cleaning fluid to run through the system, repeat that until fluid is no longer dark dirty looking, then do the same with new fresh steering fluid (we normally use a manufacture approved full synthetic) repeating until the system is full of good clean fluid, that way the pump, the gear, the lines and if installed the cooler all get flush and filled with new fluid. If you do not have a way to do this we can 757-456-0722