I did a brake job (rotors and pads) on the rear of my 2010 E550 sedan.

I found this video very helpful
Its for a w211 but I found things to be nearly identical.

Here is a DIY writeup (attached pdf) I made for myself for the future -- hopefully this will help someone else out on the forms as well.

-Arash

what part numbers did you use as I am planning to do the same job this weekend (and fronts)