2004 BMW X3 How to replace the breakes on a BMW X3 2004

Brakes problem
2004 BMW X3 6 cyl Four Wheel Drive Automatic

The brake replacement light on the dashboard has recently come on. The dealer indicated that the rotors, brake pads and sensors for all 4 wheels need to replaced, at a cost of $1,500.

Please advice what the procedure is to replace the brakes on all four wheels.

Thanks!
Mik