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Very easy on second generation Explorers to change the front brakes. Remove wheel, remove the two bolts holding the caliper, push the piston in, put in the new brake pads in the caliper. and put the caliper back on the bracket. That's it besides replacing the caliper bolts and wheel. Suggest you get a Haynes manual just in case you want some pictures. If you want to replace the front discs then you need to remove the two bolts holding the caliper bracket and the disc will come off. Really couldn't be simpler. I have a compressor and air tools and I can do the fronts in 30 minutes or less. Easiest $200 you can make.
To push the piston back into the caliper, you can use a large c-clamp (bought at any hardware or auto parts store cheap), use an old brake pad and the c-clamp to push the piston in until it is bottomed. I recommend only taking apart one side at a time or you could push the piston on the other side out and you DON'T want to do that!
Also, be sure to remove the cap on the brake fluid resevoir before pushing the piston back in and make sure it doens't overflow. Brake fluid will destroy paint.
I was a newbie at doing this to my '00 exp this year...bought new pads and rotors from tirerack.com and I haven't been sorry since...very easy...I second what everyone here has said....I doubt I'll take my vehicles in for a regular brake job again...
I open the bleeder screw on the caliper before I push the piston back in the caliper, just before the piston is seated back close the bleeder. I do the to prevent any dirt particles that may be in the caliper from getting into the anti-lock system, and it allows you control the excess brake fluid buy attaching a hose to the bleeder screw. Good luck.