Procedure for doing this (with a friend is best)...hood must be open and brake reserviour cap must be removed and new fluid ready for use - add fluid till full if necessary.
1. 1 person in driver seat and one person next the calliper.
2. Remove rubber cap from brake bleeder valve and attach rubber hose to it.
3. Use wrench to loosen, but not remove the bleeder valve - 2-4 turns is more than enough.
4. Make driver pump the brakes in and smooth and continuous motion for about 15-20 pumps.
5. Slowly depress the brake pedal one last time and while you're doing so have your friend gently tighten the brake bleeder valve.
6. Check reservior and add fluid till full - never let the reservior go far below or below the low level. getting air in the master cylinder is a pain in the butt to fix, so make sure there is always fluid in the reservior.
7. Have foot on brake and tell friend to open valve and repeat pumping 15-20 times.
8. Repeat close bleeder, fill reservior etc.
9. Doing this about 3 times per calliper should suffice, you must make sure there are no air bubbles coming out when bleeding the system and you must tighten the bleeder valves as fluid is being pushed out to make sure no air gets back into the system.
If you do 3 sets of 15-20 pumps per calliper, expect to use a large bottle of fluid. Typically you can stop bleeding when the fluid becomes clear.
Order of bleeding brakes - Toyota Forums :: Toyota Nation