Like anything, there's a right way, and an easy way.
The right way would be to remove the low pressure line (it's messy, have a pan underneath) then have a friend
turn the car on while you pour. You want to keep your eyes on the draining fluid as well as the current level of the reservoir. When the draining fluid is clearly new fluid, shut the car off. Reattach the line. Fill to proper level. Start the engine and turn lock to lock for a few minutes. Listen for a buzzing sound which indicates that there is air trapped in the system. Continue to turn the steering wheel until the fluid is properly circulated throughout the system, releasing any remaining air.
Easy, mess free way... (takes longer/not as efficient)
Suck it out with a turkey baster. Refill. Then turn the wheel (engine running) a couple times. Repeat until satisfied.
Be sure not to suck out too much and introduce air in the system.