Brake Flushing is easy - get a small container like a jam jar or bottle of something, get some thin walled clear tubing. put the tubing in the jar/bottle and coil it a bit. fill the jar with some cheap brake fluid so the end of the tube is immersed in liquid (this is now a one way valve)
install wrench on bleeder valve, Install the tubing on bleeder valve, arrange jar/bottle in a way that its lower from the level of master cylinder on vehicle but higher than the brake bleed nipple itself.
check brake fluid level, fill to very top.
open the bleed valve just slightly - now get in vehicle and pump brake pedal very gently and only half stroke (if you are concerned of half stroke, but a red brick under the pedal so it wont go full stroke - very very very critical here)
pump 10 times, check the level in the brake master cylinder container - and check fluid at the brake bleeder, keep on filling/pumping till you see brand new brake fluid in the bleeder line, The first wheel you will flush will take longest as you have to move all the dirty fluid from the master cylinder out.
All japanese cars have X split brake systems - so its best to bleed it like an X pattern, e.g. if you started at front right, your next wheel should be rear left.
Under no circumstances should the master cylinder run dry as you will have to bench bleed it.
The engine should be left off for this job. - This same procedure (with a slight change) it used to flush the clutch (if you have a hydraulic clutch vehicle) - I know you have automatic.
If you are sensible and follow common sense this job takes about an hour and has 100% results and prolongs the life of your vehicles brake hardware.