With a pressure bleeder, open each bleeder until the fluid runs clear. Newer systems with ABS are more complex, they require a scanner to run the ABS pump.
Unless there is a ton of air in the ABS system you don't need to run the pump. You won't get 100% of the old fluid out since some will be in the pump and accumulator areas but that's okay. If you are doing it every 2-3 years it will come out at the next change.
Also forgot to mention that I use a pickle jar and clear tubing from home depot to catch the fluid on the other end.
