Here's a generic how to guide:
How To Change Your Brake Pads
Last I checked you can register at Hyundai's WebTech page and get service information. They may have some Hyundai specific brake instructions.
The links in the Online Repair Manuals discussion may help too.
When you grab the new pads, grab some disposable nitrile gloves, unless you want your hands to show you can turn a wrench. :-)