How to bleed power steering system?

I remember reading previously that if you change the pump in your car, that you should fill the reservoir with fluid and then turn the wheel all the way to both sides for a few times while the system gets all the air out. I know I'm missing some steps here.... do you leave the cap off the reservoir when you do this?

TIA

-Rick

DO NOT start the car before bleeding the PS pump, or you will make more work for yourself.

jack the car up to relieve pressure on the tires.
with the car OFF turn the wheel lock to lock and bunch of times (like 40).
leave the cap off the reservoir b/c the fluid will go up and down, air bubbles working themselves out. it may even overflow some.
when the level of the reservoir is steady then you have the air out.
The first time you turn on the car it will make some noise, but will go away after 60sec or so.

little bubbles will eventually work their way out from normal use though.

Thanks Matt. Exactly what I was looking for.

What are you using for fluid?
Or what is the recommended fluid for our pumps?
I'm going to flush my system soon and was wondering if anyone has used anything other than store bought Power Steering Fluid

i added some lucas to mine b/c someone on here recommended it. the pump whines a little more b/c the fluid is thicker, but the steering has firmed up and isnt so "loose" at points.
before adding that i had store bought synthetic PS fluid. some people use ATF for PS fluid, but i wouldnt recommend it since that's not what the book calls for.

When I was turning the wheel from side to side with the car off, I could hear some creaking coming from underneath the front end. Is that normal? Front end was off the ground.

I just used power steering fluid that's compatible for GM cars.

Update: Steering feels a lot better now with the new fluid.