Check out this video tutorial for changing the serpentine accessory and air conditioning belts on a second generation (2000, 2001, 2002, 2003, 2004, 2005 & 2006) GM Chevy Tahoe with the Vortec 5300 5.3L V8 engine.
Full DIY Guide –
2000-2006 GM Chevy Tahoe Serpentine & A/C Belts Replacement Guide
Check out all of the DIY tutorials –
2000-2006 GM Chevy Tahoe DIY Repair & Maintenance Guides
The procedure should be the same for the Silverado, Avalanche, Suburban, GMC Yukon, Sierra, Hummer H2 and Cadillac Escalade.