I just did my 2002 rear disc. You have to get a huge socket that fits the axle nut (I forget the size (mine was stolen with all my tools or I would go see what the size is)). The big socket will have a 1/2" drive hole in it. The axle nut is held on with a little driven metal splinter type keeper. The axle nut has a nylon type center like a nylon lock nut for a 1/4" bolt. Splinter like keeper pulls straight out and then you can take the axle nut off. There is a torque value to be SURE to follow to make sure you preload the bearings correctly.
I had doubts if I would be able to get the axle splines aligned back up. They aligned back up very easily, no problem.
Have the rotor machined, new pads, fairly straight forward. Assemble everything back together. RETORQUE the axle nut, the sm says to use a new metal splinter nut keeper, I reused the same one as it was not damaged on removal. The sm says to put the metal nut keeper in a different position than where it was on removal.
Check the differential level (I think I remember some differential fluid came out on the axle shaft, and maybe a little extra came out as well). Bleed the brakes (I just got speed bleeders, I'll add the size to this thread, they are Russell's, got them from my local REAL auto parts shop). When I did mine I totally sucked out the old brake fluid from the resevoir, fill it up, and then kept bleeding the brakes until I got clear fluid (55k miles about 2 years).
Good luck, call me if I can help, cell 863-206-3464 (nationwide unlimited so minutes are not a problem)
Bob Weis