There are a few ways to remove old steering fluid. The following is a method you can use to do that without help from anyone else and to fill with new fluid.
You need to turn the power steering pump for the job and you can do that with a drill. Check if you have a way to fit the shaft of the pump into the drill. I used a drill bit extension of 1/4" size with an Allen bit to fit the shaft of the pulley.
Remove the drive belt of the pump and position the pump in order to use the make shift drive system we have just set up.
Now clean the area around the reservoir cap and remove as much fluid as possible with the help of a pipette.
Find the fluid return line and take it off the reservoir tank and leave it in a small receptacle for the flushed fluid to collect.
Cap the reservoir with a make shift cap. As there is not pressure on it you can use a piece of hose with a bolt to close the hole.
Now turn the steering wheel a couple of times slowly. This will drive out any oil in the steering rack.
Now turn the pump with your drill assembly. You can see fluid draining from the return line. Wait until the fluid is clean and stop the pump.
Take out the cap from the reservoir opening and close it with your finger quickly. Now put the return line in place. This is not difficult. Only a few drops of fluid will spill.
Now put back all the bolts and nuts in place. Put the hose clips. Turn the steering wheel couple of times to release any trapped air from the system the job is finished.