I just did this myself at 75K.
go to
Marion Bumper2Bumper Automotive
Different part for 4x4 or 2wd, but either way, buy 2 assemblies (driver, passenger)
Either take it to your trusted mechanic or do it yourself. I am not a serious wrench myself, but did both of mine on a Saturday. Its medium difficulty, but if you have the right tools its doable.
Watch this video:
YouTube
Edit: Also, with 101K, its a perfect time to install new rotors and pads while you have the caliper off.