Open a front bleed screw, pump pedal till fluid is rather low in the bottle, close it. Open bleed screw on same side at rear, pump pedal till fluid comes down low.
Now fill the brake resevoir with fresh fluid, start at a wheel and have assistant pump pedal till old dirty fluid gets clean-clear.
Fill fluid
Move to another wheel, pump fluid out till clean-clear. Refill fluid, repeat for rest of wheels..
After you have clean oil at all 4 corners, have assisitant pump pedal carefully 2 times and hold, you crack open to aloow fluid to bleed under pressure, do this 3 times at each wheel.. should be all done.
Usually the only time I need scan tool is after replacement of HECU to run the pump to bleed the HECI insides..