This guide explains it fairly well. Be sure to follow the correct bleeding order, which is:
1. LSV air bleeder (4WD models only)
2. Left rear brake
3. Right rear brake
4. Left front brake
5. Right front brake
Use any DOT3 or DOT4 fluid. If you have a manual, bleed the clutch master cylinder at this time as well; steps are identical.
I bought a set of Speed Bleeders to do one-man brake bleeding, but I haven't installed them yet as I haven't had the time to do so and flush the fluid during installation.