What is dealer's advise? You may want to look into their advise and analyze it. So you can figure out what need to be done correctly.
To change rotor and pads, you need to have:
2 floor stands
Jack
Some wranches or sockets. I think they are between 10-18.(I do not think you need to remove big center axle nut to change rotor on Toyotas.)
A spray can of brake cleaner to take off any grease on rotor surface.
A hammer will be handy to loose tight bolt or take off sized rotor.