I have always put the car up on jackstands and removed the wheels. If the fluid is in bad condition, I suction as much fluid as possible out of the reservoir.
Then you bleed the brakes starting the furthest away from the master cylinder. So on a LHD car, the order is RR, LR, RF, and LF.
The bleeder nipples can be 8, 9, or 10 mm. You can use a flare wrench or a deep-well six-point socket to break them loose. Once they have been loosened a bit, I put a box-end wrench on the nipple in a position where I can get a 180 swing to open the bleeder. Then I attach the bleeder hose, open the bleeder. I use a clear plastic hose for the bleeder, and when the fluid runs clear and free of air bubbles, I close the bleeder.
When finished, I use a small hand pump to lower the fluid in the reservoir to the correct level.