The calipers are held on with two bolts, you'll need a 19mm socket or wrench. Once they're out just swing the calipers out of the way and swap the rotor, remember to not let the caliper hang by the brake line as it can damage or tear the line. Support it by resting it on a stack of wood, jackstand or similar.
Put the caliper back on and change the pads out as per the service manual:
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And to get better access jack up the entire front end so you can turn the wheel you're working on outward. Remember jackstands and DONT jack it up by the sills or radiator support, ONLY jack it up by the engine crossmember or differential when using a garage jack. Depending on your jack that might mean you have to make som makeshift ramps of 2*4 to get the jack far enough under.
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