You don't need to hold the pedal down with a pressure bleeder.
It is often a lot easier, and just a little bit more expensive, to get a rebuilt caliper as it is to build one yourself. If you have a plastic/phenolic piston involved, it is usually better to go with a rebuilt as costs narrow. If you want to rebuild a caliper yourself, silicone grease works wonderfully as assembly lube, much better than using brake fluid as lube to get things together.
Just a word of caution: Pressure bleeders work great. The problem is some ABS systems are a notorious pain in the *** to bleed successfully. You can get air/garbage stuck in the valve block and it will not dislodge unless you find a way to cycle the valves, and sometimes the pump motor, during the bleed procedure to flush the block. Not saying yout Toyota is one of these, but it might be a good idea to get some more info about bleed procedures.
Have fun, this is a learning experience.