I'm sure that you can get several opinions as to which method is best, but in actuality any of several methods work just fine. If you want to do it yourself at home then there are two methods that I will mention.

The only tool needed for the first method is a wrench to open the bleed port on each caliper. It would not hurt to have something to siphon out the old fluid from the master cylinder as well. An old turkey baster works great, but don't try to return it to the kitchen drawer when you are finished. Start by removing most of the brake fluid from the master cylinder (this is optional but will save time. Add fresh DOT 4 fluid to fill the master cylinder. Make sure that you put the cap back on. Keep an eye on the master cylinder as you proceed as you don't want to allow air to enter into the brake lines. Have an assistant pump the brake pedal and then hold pressure while you open one of the caliper bleed ports. After the initial spurt of fluid, close the bleed port and have your assistant to pump the pedal and hold it again. Repeat the process as many times as needed until the fluid coming out is as pristine as the new fluid. When through with that caliper, move to the caliper on another wheel after checking the fluid level in the master cylinder and repeat the process. When done with that wheel, move on to the next and so on until you have done all four. If you don't siphon out some old fluid before you start, then you will need to bleed the first caliper longer to make room for new fluid in the master cylinder, but don't allow the aster cylinder to run dry or you will make the job harder or perhaps damage the master cylinder.

The second method allows you to do the job without an assistant. The additional tool that you will need is a hand held vacuum pump with a brake bleeding attachment. You can use the pump to siphon out the master cylinder. When you do each individual caliper you attach the hose from the bleeder attachment from to the bleeder port, apply vacuum, and open the bleeder port. The vacuum will suck the fluid through the lines instead of pushing it through with the brake pedal. I actually think that this works a little better, and it only needs one person.

Have fun.