I would suggest you invest in a repair manual. It cost around $12 at most auto parts stores, and will contain the info you need to complete this repair and many others. It will pay for itself with this one repair
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While I cannot answer directly how to do this repair, I have utilized the AutoZone website which has great trouble shooting guides and then step by step instructions of repairs with photos of each step included.
Remove wheels Loosen Brake lines to calipers Retract piston into caliper slightly remove mounting bolts (2) Remove brake lines Remove caliper
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Luid You can open the cap on the fluid container when you compress the calipers back it will force the fluid back and then you bleed them to remove any air in the lines.
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A 2005 Jeep Grand Cherokee uses DOT 3 fluid.