The easiest way is to apply the brakes/parking brake. Dont do this at high speeds. Your home street should do. If the cars an automatic, its easier to get the car rolling in D without pressing the throttle. keep your foot on the brake and apply varying pressure. Let the car speed up and keep slowing it down. The same goes for a manual car only you may need to use the throttle and clutch to keep the car rolling and slowing it down without stalling.
For the rear brakes, use the parking brake. Do not pull it all the way, halfway should do it as you feel the resistance from the rear brakes. A few meters with the brakes/handbrakes engaged/disengaged should get the rust out from all the rotors.
