theres many ways of doing this..
1st method- pump your brakes, this is a two man procedure, heard you can damage your master cylinder doing this but mostly it wont happen..
2nd method- pay about $40-$50 at your local shop per car. most likely they gonna do the foot pedal method...
3rd method- use a Do-it-yourself brake flush machine by motiveproducts.com (thats the one i did)
the motive products do-it-yourself is the best and easiest way to do it.. plug in the cap on your master cylinder fill it up with new fluid, pump it to 15psi, then go to each wheel and Flush on.. flush it out till the new brake fluid comes out... on some newer cars you must use a scanner and flush the fluid through the abs system.. you have to turn on the abs motor and flush on, and you dont need this flush machine. we did that method my my friends 2002 dodge caravan..
Step 1 set up the motive products brake flusher, and fill it up and pump to 15psi
step 2 go to each wheel and flush on... take your time and remove the wheels its way much easier than getting under you car and squeeze in there..
i used some valvoline synthetic brake fluid...
old fluid out, just look at how dark that old fluid is.. looks like its never been changed since new...
new fluid in
and your Done!!
enjoy!!!