I had an 04 A8L. The rear brakes had to get replaced. From my understanding, you need to hook up a computer to the pistons to back them off the rotor. So I don't know if you can do it yourself. The actual replacing of my rotors was easy. I just borrowed a brake piston tool from Autozone to screw the piston back in. But like I said, i think the 04 needs a computer to do that. I no longer own that car, as maintenance was a HUGE nightmare(just like the 99). Good luck.