Rear brake job on W140

[ehmand]

Been lurking and searching here for a while and have convinced myself that I can tackle doing the rear brakes on my 1995 S320.

Changing out the pads seems to be pretty straightforward. I am also considering doing the rotors as well, but haven't found any suggestions on what to do/not do on the 140 when changing out the rotors.

Any help & suggestions appreciated.

This is my daily driver so I'd like to have everything ready and planned out before I start.

Thanks much,