But Watch out, you need to SECURE the car in lifted postion if you dont have a ramp, since you cant apply the E-brake. In case the rotor does not slide of the E-brake pads, depending on the wear and age of the rotors you need to loosen the E-brake pads. Turn the rotor in a postion that one (of the five) srew holes is in 45 degree angle to the rear of the car and then you need a screw driver with about 1/4 " blade stick it through the hole and try to turn the toothed wheel to loosen the E-pads and the rotor slides over the pads. You need to try which way to turn, I forgot, right side is different than left side of the car.
In any case you need a new adjustment of the E-brake after installing new rotors.