Or, yet another option: purchase the brakes from an online supplier (such as Tirerack, Turner, Bavarian Auto, etc.) to save money over the dealership, then take it to a mechanic..
Dealerships in my area charge about $120/hr, mechanics abour $75/hr. Replacing one set of brake pads should take about a half-hour per axle. Replacing one set of rotors and one set of brake pads per axle should take perhaps an hour or an hour and a half.
DON'T forget the brake pad sensor wires and some anti-squeal compound.