Just wanted to add my experience for those who plan to do this. If you are replacing just the pads, it's really easy. If you need to replace/remove the rotors, I agree with aljodoro - it is a big pain the arse.
The rear rotors are almost like drum brakes, there are shoes underneath the rotor. I ended up getting the rotors off with pry bar and lots of brute force, but the removal screw holes (8mm, 1.25 pitch) was pretty useless - ended up cracking them. I could not find any adjustment (i.e star wheel) for the shoes and there was no info in the factory shop manual.
My 2 cents - I would have easily paid someone to replace the rear rotors if I knew it was that bad. Pads you can easliy do yourself.
Regards,
Bill