I suggest investing in a vacuum bleeder kindof like this one:
http://www.amazon.com/gp/product/B00265 ... GQV5DW91GB
Once you have that, you raise the car up, put it on jack stands, and pull the wheels off so you have access to the brake calipers.
If the fluid in your master cylinder reservoir is nasty, go ahead and suck it out with the vacuum bleeder before even getting started. Replace it with good fluid.
Next, start with the wheel that is farthest away from the master. In this country, that should be the passenger side rear caliper. Crack the bleeder screw slightly using either a line-wrench or 6 point socket/box end wrench. Put the hose on it and pull fluid out until fresh, good looking fluid comes out. Tighten the bleed screw and check the fluid level in the reservoir. Top off as needed.
Repeat for the brakes in this order - driver's side rear, passenger front, driver's front.
The advantage of using the vacuum bleeder instead of the pump and dump method of yore is that you don't end up pushing the seals inside the master cylinder passed their normal operating window, which could possibly cause them to tear/wear on any lips that may have formed in the bore from operating wear.
If you got any fluid on the pads or rotors while bleeding, go ahead and douche them down with some brake parts cleaner. Let me know if you have any questions!