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I agree with the others there is no special procedure. It sort of does it own it's own.
As air expands more rapidly than liquid when heated, running the engine to temperature will force the hot air/steam mix out of the system and into the reservoir.. When shut off and cooling down, contraction will suck coolant out of the reservoir. A few cycles of this and you're done. Just keep an eye on the reservoir.
We had a GM 3.4 that had a bleed valve near the t-stat. Not every system has those and if it doesn't, the thinking is probably that the system will purge itself of air as described above.
Once it goes through a couple warm up-cool down cycles, check the levels.