Check out this video DIY tutorial for changing the front disc brake pads and rotors on a 2nd generation 2000, 2001, 2002, 2003, 2004, 2005 and 2006 GM Chevrolet Tahoe.
The procedure should be the same for the Silverado, Suburban, Avalanche, GMC Yukon, Sierra, Hummer H2 and the Cadillac Escalade.
Here is the full tutorial –
2000-2006 GM Chevy Tahoe Front Brake Pads & Rotors Replacement Guide
Here are all of the guides for this vehicle –
2000-2006 GM Chevy Tahoe DIY Repair & Maintenance Tutorials