If you're reusing the rotors, the rotor thickness needs to be measured.
My friend and I made a video for doing a brake job:
http://www.infinitihelp.com/diy/gsedan/projects/infiniti_g35_rear_brakes_replacement_procedure.htm
My friend and I made a video for doing a brake job:
http://www.infinitihelp.com/diy/gsedan/projects/infiniti_g35_rear_brakes_replacement_procedure.htm