+1 it's not a flush but a "drain and fill" if you have a low mileage car, a drain and a fresh refill is easily accomplished as previously described- open the yellow valve, and remove the radiator cap (you are doing this with a cold engine, right?), I also took the cap off the little reserve tank on top.
Have your bucket under the drain and the car will very conveniently drain the radiator and all the little reservoir tanks up top.
Mix your Dexos coolant 50/50 with distilled water and slowly fill the radiator (you don't want to be in a hurry and trap any air, so pour it slowly). Then you will also need to refill the reservoir tanks, so have a funnel handy.
And you're done.
Take a drive and check your levels when hot. I changed my coolant based on the time factor (low-low miles for a car this age but) when she was about to turn 6 years old, I figured it was time. The fluid looked great (I had 25K miles on the clock) with nothing floating around or even cloudy, so it was my opinion that I needn't worry about a "flush". Can't remember if the car required any additional top off after driving, but if any was needed it wasn't much.
When she turns 10 I'll prolly do the same thing because it couldn't have been any easier and a lot less expen$ive then asking a dealer or any garage.