This is the sort of procedure I normally use : http://rdabrakes.com.au/page/TB05.aspx
I think the most important bit, while bedding in, is not to come to complete stop during the process (while the rotors are hot) or else you can get pad material permanently deposited onto the rotor surface. That gives a similar feeling to warped rotors.
It's always hard to find somewhere to bed them on public roads!
