The link above is for vehicles with floating calipers. The 4Runner has fixed front calipers, the 4Runner's rear brakes would be similar.

For the front:
1. Remove the brake pads, by removing the clips on end of the two hold down pins (on the inside of the caliper). Remove the spring on the lower hold down pin. You should take a C-clamp and compress the calipers now to make reinstallation easier. Remove the pins and remove the pads.
2. Unbolt the brake line bracket from the spindle arm.
3. Unbolt the two bolts that are holding the caliper to the spindle. Ensure you're not loosen the four bolts (two at further corners of the caliper) that holds the two caliper halves together. Get a bungee cord, coat hanger or stiff wire to hang the caliper off the upper control arm. Take care not to crush the hard brake line tube on the caliper.
4. The rotor may or may not be loose due to rust around the hub center. There are two bolt holes 180 degrees apart from each other near the wheel studs. (I need to double check the bolt size, but they are something like M8x1.25.) Put the two bolts in the holes and give it a turn or two, alternating between each. That will pop the rotor off if it's stuck.
5. Reassemble everything in reverse order. The caliper bolts are torque specs are 91ft-lb.