Hi i have just done this to my toyota yaris 2007 its pretty simple just take off the wheel and hub, you will see the brake shoes take off bottom spring , cable and two pins with springs located in the center of the shoe (fixed with a round slotted washer) watch out for the cylinder/ram as it can come apart and will need replacing if there is a airleak. You could replace the ram and shoes as they are pretty cheap. You will need a screwdriver and needlenose pliers to do the job
SOURCE: how to remove 2008 toyota yaris rear bumper
Go to this site. http://www.yarisworld.com/forums/showthread.php?t=33767
Further down you will see a diagram of the bumper removal.
remove the two bolts under the hatch, the four plugs along the bottom edge, and the plate light. Don't forget the red circle clip or bolt on the diagram. Then you just pull it off.
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