I recently did a rotor and pad change and was surprised at how easy it was. The rotor removal was the only problem. They were stuck on and require some work to remove. The only recommendation that I have is to bleed off the brake fluid as you are pushing in the calipers. The brake pad instructions should mention to do this, mine did. All in all a very simple job.
I just push mine back in, very gently and slowly, with the brake cap off, and a rag placed around the base, though I've heard of that too.
Is there an advantage to bleeding the brakes when you do the pads?
Maybe some crud in the calipers?
The dealer only charges 100 bucks for the bleed so I have them do it, up till now.
If you've gotten air in the lines, you could need the special machine that works the ABS, but only if you've got air in the lines.
Some folks had to do this when installing AMG brakes.
Me, I used a piece of wood wedged against the pedal and the seat to keep constant pressure when removing the caliper so no air would get sucked in.
But you don't need to do any of that to replace pads.