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Changing the rotors and pads on a RAV4 is no different from any other disc brake system and the same goes for the drum shoes.

You can get a RAV4 service/repair manual or really any generic one will do if you don't need the the extra information. Be sure to get the right parts and tools, read through the maintenance steps ahead of time and follow any noted precautions. A good idea is to ask for the assistance of someone who's actually done it before if it's your first time.

Replacing Disc Brake Pads
http://www.advanceautoparts.com/english/youcan/html/ccr/ccr20021101db.html

Replacing Brake Shoes
http://www.advanceautoparts.com/english/youcan/html/ccr/ccr20021101bs.html
 
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