Below you will find the process from the manual that will help with replacing the rotors and pads as I would replace them both at the same time.
Please run through this and let us know what other questions you have.
Thanks
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May 8, 2021 at 12:53 PM
Repair Safety Notice: This information is for general instructional purposes only. Vehicle repair can be dangerous. Verify all information, follow manufacturer service procedures, use proper tools and safety equipment, and consult a qualified repair shop when needed.